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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%