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Stock-based Compensation - Stock-Based Compensation Expense (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Stock-based compensation expense      
Total stock-based compensation expense $ 3,524,476 $ 3,857,580 $ 6,087,286
Research and development expense      
Stock-based compensation expense      
Total stock-based compensation expense 909,981 1,059,591 2,214,848
General and administrative expense      
Stock-based compensation expense      
Total stock-based compensation expense $ 2,614,495 $ 2,797,989 $ 3,872,438