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Commitments and Contingencies - Lease cost and contract termination (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Lease costs:    
Operating lease cost $ 876,795 $ 1,002,989
Short-term lease cost 210,902 282,775
Sublease income (147,930) (178,620)
Total lease costs 939,767 1,107,144
Cash paid for amounts included in the measurement of lease liabilities:    
Operating cash flows from operating leases 843,463 609,790
Operating cash flows from short-term leases 210,902 282,775
Total lease Payment $ 1,054,365 $ 892,565
Weighted-average remaining lease term - operating leases 8 years 3 months 25 days 9 years 1 month 28 days
Weighted-average discount rate - operating leases 10.00% 9.10%