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Stockholders' Equity - Incentive Plans (Details) - USD ($)
1 Months Ended 12 Months Ended
May 31, 2022
Jan. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
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  
Cash proceeds from exercise of stock options       $ 4,239 $ 319,297  
Shares issued from exercise of stock options     0 3,785 285,087  
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     $ 2,589,179      
Period for unrecognized compensation expense related to unvested options yet has not been recognized     2 years      
Shares issued from exercise of stock options     0 0 0  
Fair value of shares vested     $ 3,306,412 $ 5,936,641 $ 7,347,548  
2013 Equity Incentive Plan | Stock options vesting based on performance | Non-executive employees            
Incentive plans            
Maximum fair value of option excluded from the unrecognized compensation expense   $ 151,680        
Authorized shares            
Shares available for future grants   189,600        
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%      
2013 Equity Incentive Plan | Vesting upon FDA Approval | Stock options vesting based on performance | Non-executive employees            
Incentive plans            
Percent of shares subject to option grant that will vest   50.00%        
2013 Equity Incentive Plan | Vesting upon First Commercial Sale | Stock options vesting based on performance | Non-executive employees            
Incentive plans            
Percent of shares subject to option grant that will vest   50.00%        
Common Stock | 2013 Equity Incentive Plan            
Authorized shares            
Common stock authorized     9,506,767     1,000,000
Shares available for future grants     1,976,154      
Maximum number of shares that may be issued pursuant to exercise of incentive stock           20,000,000
Increase in number of shares of common stock 2,619,622          
Maximum percentage of shares of common stock issued and outstanding on the immediately preceding fiscal year, or such lesser number of shares as determined by the board of directors or the compensation committee     4.00%