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Stockholders' Equity - Incentive Plans (Details)
3 Months Ended 6 Months Ended
Jan. 01, 2020
shares
Jan. 09, 2014
installment
shares
Jun. 30, 2020
USD ($)
shares
Jun. 30, 2019
shares
Jun. 30, 2020
USD ($)
shares
Jun. 30, 2019
USD ($)
shares
Dec. 31, 2019
Maximum              
Incentive plans              
Expiration period         10 years    
2003 Stock Incentive Plan              
Incentive plans              
Period from date of termination that any vested options shall expire         60 days    
Expiration period         10 years    
Intrinsic value of options exercised | $         $ 468,458 $ 129,250  
Cash proceeds from exercise of stock options | $         $ 135,583 12,320  
Options exercised | shares         121,056    
2003 Stock Incentive Plan | Upon first anniversary of start date              
Incentive plans              
Percent of shares subject to option grant that will vest         25.00%    
2003 Stock Incentive Plan | Each month after the first anniversary              
Incentive plans              
Percent of shares subject to option grant that will vest         2.083%    
2013 Equity Incentive Plan              
Incentive plans              
Period from date of termination that any vested options shall expire   90 days          
Expiration period   10 years          
Unrecognized compensation expense related to unvested options | $     $ 12,644,390   $ 12,644,390    
Period for unrecognized compensation expense related to unvested options yet has not been recognized         2 years 6 months    
Intrinsic value of options exercised | $           97,429  
Cash proceeds from exercise of stock options | $           94,001  
Options exercised | shares         0    
Fair value of shares vested | $         $ 5,014,602 $ 4,395,888  
2013 Equity Incentive Plan | Upon first anniversary of start date              
Incentive plans              
Percent of shares subject to option grant that will vest   25.00%          
2013 Equity Incentive Plan | Each month after the first anniversary              
Incentive plans              
Number of monthly installments | installment   36          
Common Stock              
Incentive plans              
Options exercised | shares     5,010 13,021 121,056 32,439  
Common Stock | 2013 Equity Incentive Plan              
Authorized shares              
Common stock authorized under 2013 plan | shares 6,466,823 1,000,000          
Automatic increase in number of shares reserved for issuance as a percentage of the total common stock outstanding at the end of the prior year   3.00%         3.00%
Maximum number of shares that may be issued pursuant to exercise of incentive stock | shares   20,000,000          
Increase in number of shares of common stock | shares 1,304,007