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Quarterly Financial Information (Unaudited) (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2023
Sep. 30, 2023
Jun. 30, 2023
Mar. 31, 2023
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Quarterly Financial Information Unaudited [Abstract]                              
Revenue $ 1,067,000 $ 2,180,000 $ 4,691,000 $ 4,191,000 $ 2,898,000 $ 3,427,000 $ 3,008,000 $ 2,503,000 $ 3,314,000 $ 3,019,000 $ 2,917,000 $ 3,915,000 $ 12,129,139 $ 11,835,882 $ 13,164,933
Gross profit (loss) (4,245,000) (238,000) 972,000 876,000 (126,000) 868,000 262,000 479,000 (12,000) 363,000 359,000 860,000 (2,634,730) 1,483,126 1,568,490
Net loss $ (19,880,000) $ (10,983,000) $ (9,045,000) $ (10,241,000) $ (10,759,000) $ (9,477,000) $ (10,022,000) $ (10,506,000) $ (11,493,000) $ (10,488,000) $ (9,245,000) $ (9,151,000) $ (50,149,077) $ (40,763,573) $ (40,377,160)
Net loss per share, basic $ (0.32) $ (0.17) $ (0.14) $ (0.16) $ (0.17) $ (0.15) $ (0.16) $ (0.16) $ (0.17) $ (0.17) $ (0.15) $ (0.17) $ (0.79) $ (0.64) $ (0.66)
Net loss per share, diluted $ (0.31) $ (0.17) $ (0.14) $ (0.16) $ (0.17) $ (0.15) $ (0.16) $ (0.16) $ (0.17) $ (0.17) $ (0.15) $ (0.17) $ (0.79) $ (0.64) $ (0.66)