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Stockholders' Equity - Incentive Plans (Details) - USD ($) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Jan. 09, 2014
Maximum |  |  |  |
Incentive plans |  |  |  |
Expiration period | 10 years | 10 years | 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 | $ 921,168 | $ 924,688 |
Cash proceeds from exercise of stock options | $ 4,239 | $ 319,297 | $ 318,912 |
Shares issued from exercise of stock options | 3,785 | 285,087 | 284,743 |
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 | $ 4,936,519 |  |  |
Period for unrecognized compensation expense related to unvested options yet has not been recognized | 2 years |  |  |
Intrinsic value of options exercised |  |  | $ 97,429 |
Cash proceeds from exercise of stock options |  |  | 94,001 |
Shares issued from exercise of stock options | 0 | 0 |  |
Fair value of shares vested | $ 5,936,641 | $ 7,347,548 | $ 6,159,610 |
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 |  |  |  |
Percent of shares subject to option grant that will vest | 2.083% |  |  |
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

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