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Stock Options and Restricted Stock Units - Summary of Stock Option Activity (Details) - USD ($)
 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
2013 Stock Plan    
Stock Options and Restricted Stock Units    
Stock options vesting period 12 months  
Employee stock option    
Stock Options and Restricted Stock Units    
Number of Options, Exercised (in shares) (896,884)  
Weighted Average Exercise Price Exercised (in dollars per shares) $ 2.50  
Employee stock option | 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) (871,884) (146,705)
Number of Options, Forfeited/Expired (in shares) (75,766) (36,000)
Number of Options, Outstanding - Ending balance (in shares) 5,767,840 6,833,749
Number of Options Exercisable (in shares) 3,600,261 3,578,045
Number of Options, Vested and Expected to Vest (in shares) 5,767,840 6,833,749
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) 2.34 1.17
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares) 6.96 5.13
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares) 3.16 3.24
Weighted Average Exercise Price Exercisable (in dollars per shares) 1.91 1.81
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares) $ 3.16 $ 3.24
Weighted Average Remaining Contractual Term Outstanding (in years) 6 years 10 months 2 days 7 years 7 months 13 days
Weighted Average Remaining Contractual Term Exercisable (in years) 5 years 8 months 23 days 6 years 4 months 24 days
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years) 6 years 10 months 2 days 7 years 7 months 13 days
Aggregate Intrinsic Value, Outstanding $ 47,137,674 $ 13,923,020
Aggregate Intrinsic Value, Exercisable 33,897,858 11,195,079
Aggregate Intrinsic Value, Vested and Expected to Vest $ 47,137,674 $ 13,923,020
Employee stock option | 2021 Stock Plan    
Stock Options and Restricted Stock Units    
Number of Options, Outstanding - Beginning balance (in shares) 1,027,500  
Number of options, Granted (in shares)   25,000
Number of Options, Exercised (in shares) (25,000)  
Number of Options, Forfeited/Expired (in shares) (42,000)  
Number of Options, Outstanding - Ending balance (in shares) 960,500 25,000
Number of Options Exercisable (in shares) 18,750  
Number of Options, Vested and Expected to Vest (in shares) 960,500 25,000
Weighted Average Exercise Price Outstanding beginning balance (in dollars per shares) $ 3.46  
Weighted Average Exercise Price Granted (in dollars per shares)   $ 6.40
Weighted Average Exercise Price Exercised (in dollars per shares) 6.40  
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares) 3.41  
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares) 3.38 6.40
Weighted Average Exercise Price Exercisable (in dollars per shares) 3.39  
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares) $ 3.38 $ 6.40
Weighted Average Remaining Contractual Term Outstanding (in years) 9 years 3 months 7 days 5 years
Weighted Average Remaining Contractual Term Exercisable (in years) 9 years 2 months 15 days  
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years) 9 years 3 months 7 days 5 years
Aggregate Intrinsic Value, Outstanding $ 7,634,060  
Aggregate Intrinsic Value, Exercisable 148,875  
Aggregate Intrinsic Value, Vested and Expected to Vest $ 7,634,060  
Employee stock option | Non employee director | 2013 Stock Plan    
Stock Options and Restricted Stock Units    
Number of options, Granted (in shares) 110,000