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Stock-based Compensation - Incentive Plans (Details) - USD ($)
 1 Months Ended 12 Months Ended 24 Months Ended
May 31, 2022
Jan. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2023
Jan. 09, 2014
Incentive plans                
Intrinsic value of options exercised     $ 82,300          
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      
Cash proceeds from exercise of stock options     $ 4,239          
Shares issued from exercise of stock options         3,785   0  
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     $ 4,200,069       $ 4,200,069  
Period for unrecognized compensation expense related to unvested options yet has not been recognized     2 years 8 months 12 days          
Cash proceeds from exercise of stock options     $ 116,497          
Shares issued from exercise of stock options     100,960 0 0 0    
Fair value of shares vested     $ 1,710,938 $ 3,306,412 $ 5,936,641      
2013 Equity Incentive Plan | Stock options vesting based on performance | Employees                
Incentive plans                
Maximum fair value of option excluded from the unrecognized compensation expense   $ 113,520            
Authorized shares                
Shares available for future grants   141,900            
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 | 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 | 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     11,681,878       11,681,878 1,000,000
Shares available for future grants     2,531,613       2,531,613  
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%       4.00%