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Stock Options and Restricted Stock Units - Summary of Stock Option Activity (Details) - Employee stock option - USD ($)
 3 Months Ended
Jan. 23, 2023
Mar. 31, 2023
Mar. 31, 2022
Stock Options and Restricted Stock Units      
Number of Options, Exercised (in shares)   (148,167)  
Weighted Average Exercise Price Exercised (in dollars per shares)   $ 2.31  
2013 Stock Plan      
Stock Options and Restricted Stock Units      
Number of Options, Outstanding - Beginning balance (in shares)   6,690,490 5,536,896
Number of options, Granted (in shares)   25,000 1,479,558
Number of Options, Exercised (in shares)   (148,167) (22,500)
Number of Options, Forfeited/Expired (in shares)   (64,666) (35,400)
Number of Options, Outstanding - Ending balance (in shares)   6,502,657 6,958,554
Number of Options Exercisable (in shares)   4,041,942 3,418,917
Number of Options, Vested and Expected to Vest (in shares)   6,502,657 6,958,554
Weighted Average Exercise Price Outstanding beginning balance (in dollars per shares)   $ 3.09 $ 2.66
Weighted Average Exercise Price Granted (in dollars per shares)   3.31 5.21
Weighted Average Exercise Price Exercised (in dollars per shares)   2.31 1.17
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares)   6.96 5.10
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares)   3.07 3.20
Weighted Average Exercise Price Exercisable (in dollars per shares)   2.03 1.82
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares)   $ 3.07 $ 3.20
Weighted Average Remaining Contractual Term Outstanding (in years)   6 years 11 months 8 days 7 years 10 months 2 days
Weighted Average Remaining Contractual Term Exercisable (in years)   5 years 10 months 13 days 6 years 6 months 10 days
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years)   6 years 11 months 8 days 7 years 10 months 2 days
Aggregate Intrinsic Value, Outstanding   $ 35,414,546 $ 26,515,544
Aggregate Intrinsic Value, Exercisable   26,301,295 17,679,562
Aggregate Intrinsic Value, Vested and Expected to Vest   $ 35,414,546 $ 26,515,544
2021 Stock Plan      
Stock Options and Restricted Stock Units      
Number of Options, Outstanding - Beginning balance (in shares)   1,027,500  
Number of Options, Forfeited/Expired (in shares)   (33,500)  
Number of Options, Outstanding - Ending balance (in shares)   994,000  
Number of Options Exercisable (in shares)   31,250  
Number of Options, Vested and Expected to Vest (in shares)   994,000  
Weighted Average Exercise Price Outstanding beginning balance (in dollars per shares)   $ 3.46  
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares)   3.41  
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares)   3.46  
Weighted Average Exercise Price Exercisable (in dollars per shares)   5.20  
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares)   $ 3.46  
Weighted Average Remaining Contractual Term Outstanding (in years)   9 years 6 months 3 days  
Weighted Average Remaining Contractual Term Exercisable (in years)   9 years 3 months 14 days  
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years)   9 years 6 months 3 days  
Aggregate Intrinsic Value, Outstanding   $ 5,051,370  
Aggregate Intrinsic Value, Exercisable   104,500  
Aggregate Intrinsic Value, Vested and Expected to Vest   $ 5,051,370  
Non employee director | 2013 Stock Plan      
Stock Options and Restricted Stock Units      
Number of options, Granted (in shares) 25,000   110,000