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Common Stock and Non-Controlling Interest - Common Stock (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Aug. 12, 2016
Class of Stock [Line Items] |  |  |
Shares authorized (in shares) | 100,000,000 | 100,000,000 |
Common stock, par value (in dollars per share) | $ 0.0001 | $ 0.0001 |
Common stock, issued (in shares) | 46,466,622 | 45,898,395 |
Number of shares authorized |  |  | 6,200,000
Total non-cash compensation cost recognized | $ 2,087,807 | $ 1,767,726 |
Share Incentive Plan | Restricted Stock |  |  |
Class of Stock [Line Items] |  |  |
Issued for services | 3,579,569 |  |
Restricted stock units, vesting year 3 | 33.30% |  |
Restricted stock units, vesting year 4 | 33.30% |  |
Restricted stock units, vesting year 5 | 33.30% |  |

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