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Stockholders' Equity - Incentive Plans (Details)
3 Months Ended 9 Months Ended
Jan. 01, 2020
shares
Jan. 09, 2014
installment
shares
Sep. 30, 2019
shares
Sep. 30, 2020
USD ($)
shares
Sep. 30, 2019
USD ($)
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 $ 266,450  
Cash proceeds from exercise of stock options | $       $ 135,583 199,090  
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 | $       $ 11,141,460    
Period for unrecognized compensation expense related to unvested options yet has not been recognized       2 years 4 months 24 days    
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 | $       $ 6,169,748 $ 5,296,451  
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     166,759   199,198  
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