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Stockholders' Equity - Incentive Plans (Details)
3 Months Ended 9 Months Ended
Jan. 09, 2014
installment
shares
Mar. 31, 2021
shares
Jun. 30, 2020
shares
Mar. 31, 2020
shares
Sep. 30, 2021
USD ($)
shares
Sep. 30, 2020
USD ($)
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 $ 468,458
Cash proceeds from exercise of stock options | $         $ 4,239 $ 135,583
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 | $         $ 6,702,323  
Period for unrecognized compensation expense related to unvested options yet has not been recognized         2 years 1 month 6 days  
Options exercised         0 0
Fair value of shares vested | $         $ 4,844,743 $ 6,169,748
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 5,010 116,046    
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