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Stock Options - Summary of Stock Option Activity (Details) - Employee Stock Option - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
2013 Stock Plan    
Stock Options    
Number of Options, Outstanding - Beginning balance (in shares) 6,690,490 5,536,896
Number of Options, Granted (in shares) 25,000 1,774,558
Number of Options, Exercised (in shares) (1,287,462) (248,763)
Number of Options, Forfeited/Expired (in shares) (88,866) (372,201)
Number of Options, Outstanding - Ending balance (in shares) 5,339,162 6,690,490
Number of Options Exercisable (in shares) 3,475,780  
Number of Options, Vested and Expected to Vest (in shares) 5,339,162  
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 4.91
Weighted Average Exercise Price Exercised (in dollars per shares) 2.37 1.34
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares) 6.27 6.55
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares) 3.22 $ 3.09
Weighted Average Exercise Price Exercisable (in dollars per shares) 2.18  
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares) $ 3.22  
Weighted Average Remaining Contractual Term Outstanding (in years) 6 years 4 months 17 days 7 years 2 months 8 days
Weighted Average Remaining Contractual Term Exercisable (in years) 6 years 4 months 24 days  
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years) 6 years 4 months 17 days  
Aggregate Intrinsic Value, Outstanding $ 28,640,009 $ 5,989,709
Aggregate Intrinsic Value, Exercisable 22,237,334  
Aggregate Intrinsic Value, Vested and Expected to Vest $ 28,640,009  
2021 Stock Plan    
Stock Options    
Number of Options, Outstanding - Beginning balance (in shares) 1,027,500  
Number of Options, Granted (in shares) 3,000 1,030,000
Number of Options, Exercised (in shares) (63,595)  
Number of Options, Forfeited/Expired (in shares) (43,334) (2,500)
Number of Options, Outstanding - Ending balance (in shares) 923,571 1,027,500
Number of Options Exercisable (in shares) 386,209  
Number of Options, Vested and Expected to Vest (in shares) 923,571  
Weighted Average Exercise Price Outstanding beginning balance (in dollars per shares) $ 3.46  
Weighted Average Exercise Price Granted (in dollars per shares) 13.05 $ 3.46
Weighted Average Exercise Price Exercised (in dollars per shares) 4.59  
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares) 3.41 3.41
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares) 3.41 $ 3.46
Weighted Average Exercise Price Exercisable (in dollars per shares) 3.34  
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares) $ 3.41  
Weighted Average Remaining Contractual Term Outstanding (in years) 8 years 9 months 3 days 9 years 9 months
Weighted Average Remaining Contractual Term Exercisable (in years) 8 years 8 months 26 days  
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years) 8 years 9 months 3 days  
Aggregate Intrinsic Value, Outstanding $ 4,786,252  
Aggregate Intrinsic Value, Exercisable 2,023,601  
Aggregate Intrinsic Value, Vested and Expected to Vest $ 4,786,252  
Non employee director | 2013 Stock Plan    
Stock Options    
Number of Options, Granted (in shares) 25,000