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Stockholders' Equity - Incentive Plans (Details)
3 Months Ended
Jan. 09, 2014
installment
shares
Mar. 31, 2021
USD ($)
shares
Mar. 31, 2020
USD ($)
shares
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 | $   $ 8,668 $ 459,098
Cash proceeds from exercise of stock options | $   $ 4,239 129,972
Options exercised   3,785  
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 | $   $ 9,254,305  
Period for unrecognized compensation expense related to unvested options yet has not been recognized   2 years 3 months 18 days  
Options exercised   0  
Fair value of shares vested | $   $ 2,269,172 $ 2,618,307
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   3,785 116,046
Common Stock | 2013 Equity Incentive Plan      
Authorized shares      
Common stock authorized 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%    
Maximum number of shares that may be issued pursuant to exercise of incentive stock 20,000,000