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Stock Options and Restricted Stock Units - Summary of Stock Option Activity (Details) - USD ($)
 3 Months Ended 12 Months Ended
Mar. 31, 2034
Mar. 31, 2024
Mar. 31, 2023
Dec. 31, 2023
Dec. 31, 2022
Stock Options          
Number of Options, Granted (in shares) 0        
Number of Options, Exercised (in shares) 0        
Employee Stock Option | 2013 Stock Plan          
Stock Options          
Number of Options, Outstanding - Beginning balance (in shares)   5,339,162 6,690,490 6,690,490  
Number of Options, Granted (in shares)     25,000    
Number of Options, Exercised (in shares)     (148,167)    
Number of Options, Forfeited/Expired (in shares)   (2,334) (64,666)    
Number of Options, Outstanding - Ending balance (in shares)   5,336,828 6,502,657 5,339,162 6,690,490
Number of Options Exercisable (in shares)   3,552,030 4,041,942    
Number of Options, Vested and Expected to Vest (in shares)   5,336,828 6,502,657    
Weighted Average Exercise Price Outstanding beginning balance (in dollars per shares)   $ 3.22 $ 3.09 $ 3.09  
Weighted Average Exercise Price Granted (in dollars per shares)     3.31    
Weighted Average Exercise Price Exercised (in dollars per shares)     2.31    
Weighted Average Exercise Price Forfeited/Expired (in dollars per shares)   6.96 6.96    
Weighted Average Exercise Price Outstanding Ending balance (in dollars per shares)   3.21 3.07 $ 3.22 $ 3.09
Weighted Average Exercise Price Exercisable (in dollars per shares)   2.28 2.03    
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares)   $ 3.21 $ 3.07    
Weighted Average Remaining Contractual Term Outstanding (in years)   6 years 1 month 17 days 6 years 11 months 8 days 6 years 4 months 17 days 7 years 2 months 8 days
Weighted Average Remaining Contractual Term Exercisable (in years)   5 years 2 months 19 days 5 years 10 months 13 days    
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years)   6 years 1 month 17 days 6 years 11 months 8 days    
Aggregate Intrinsic Value, Outstanding   $ 18,364,840 $ 35,414,546 $ 28,640,009 $ 5,989,709
Aggregate Intrinsic Value, Exercisable   15,528,015 26,301,295    
Aggregate Intrinsic Value, Vested and Expected to Vest   $ 18,364,840 $ 35,414,546    
Employee Stock Option | 2021 Stock Plan          
Stock Options          
Number of Options, Outstanding - Beginning balance (in shares)   923,571 1,027,500 1,027,500  
Number of Options, Forfeited/Expired (in shares)   (5,334) (33,500)    
Number of Options, Outstanding - Ending balance (in shares)   918,237 994,000 923,571 1,027,500
Number of Options Exercisable (in shares)   386,209 31,250    
Number of Options, Vested and Expected to Vest (in shares)   918,237 994,000    
Weighted Average Exercise Price Outstanding beginning balance (in dollars per shares)   $ 3.41 $ 3.46 $ 3.46  
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 $ 3.41 $ 3.46
Weighted Average Exercise Price Exercisable (in dollars per shares)   3.34 5.20    
Weighted Average Exercise Price Vested and Expected to Vest (in dollars per shares)   $ 3.41 $ 3.46    
Weighted Average Remaining Contractual Term Outstanding (in years)   8 years 6 months 7 days 9 years 6 months 3 days 8 years 9 months 3 days 9 years 9 months
Weighted Average Remaining Contractual Term Exercisable (in years)   8 years 5 months 26 days 9 years 3 months 14 days    
Weighted Average Remaining Contractual Term Vested and Expected to Vest (in years)   8 years 6 months 7 days 9 years 6 months 3 days    
Aggregate Intrinsic Value, Outstanding   $ 2,946,506 $ 5,051,370 $ 4,786,252  
Aggregate Intrinsic Value, Exercisable   1,258,907 104,500    
Aggregate Intrinsic Value, Vested and Expected to Vest   $ 2,946,506 $ 5,051,370    
Employee Stock Option | Non employee director | 2013 Stock Plan          
Stock Options          
Number of Options, Granted (in shares)     25,000