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Stockholders' Equity - Stock-Based Compensation Expense (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Stock-based compensation expense |  |  |
Total stock-based compensation expense | $ 3,857,580 | $ 6,087,286 | $ 6,901,758
Research and Development |  |  |
Stock-based compensation expense |  |  |
Total stock-based compensation expense | 1,059,591 | 2,214,848 | 2,946,952
General and Administrative Expense |  |  |
Stock-based compensation expense |  |  |
Total stock-based compensation expense | $ 2,797,989 | $ 3,872,438 | $ 3,954,806

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