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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