Stockholders' Equity - Stock Options (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value (per share)	$ 0.0001	$ 0.0001
Stock option plan expense	$ 267,672	$ 270,958
Percentage of individual ownership of common stock (percentage)	10.00%
Common shares, exercised		182,722
Share-based compensation arrangement by share-based payment award, options, outstanding, intrinsic value	$ 63,325
Proceeds from Stock Options Exercised	32,543	$ 69,589
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value	$ 48,860
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Grant Date Intrinsic Value	$ 488,514
Equity Incentive 2011 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common shares outstanding	1,665,164	1,795,663	1,712,806
Common shares expected to vest	1,375,569
Common shares expected to vest weighted average	$ 3.06
Common shares, exercised	71,086	182,722
Share-based compensation arrangement by share-based payment award, options, exercisable, intrinsic value	$ 48,651
Weighted average remaining years to vest (in years)	1 year 8 months 12 days	2 years 3 months 18 days	2 years 6 months
Proceeds from Stock Options Exercised	$ 18,027
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price	$ 2.83	$ 2.79	$ 2.56
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares	289,595	655,804	715,486
Options, granted	125	296,569
Weighted average grant date fair value, granted	$ 1.15	$ 2.25
Common shares, vested	(306,796)	(339,099)
Weighted average grant date fair value, vested	$ 2.84	$ 0.73
Common shares, forfeited	(59,538)	(17,152)
Weighted average grant date fair value, forfeited	$ 4.59	$ 1.38
Share-based Compensation Arrangement by Share-based Payment Award, Option, Nonvested, Weighted Average Exercise Price	$ 1.45	$ 1.22	$ 0.56
May 2011 and August 2011 Equity Incentive Plans [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair market value of incentive stock options	100.00%
Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Common stock, par value (per share)	$ 0.54
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized	$ 381,425
Proceeds from issuance or sale of equity		$ 58,971
Individual Stock Ownership in Excess of 10 Percent [Member] \| May 2011 and August 2011 Equity Incentive Plans [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Fair market value of incentive stock options	110.00%
Total vesting period [Member] \| Share-based Payment Arrangement, Option [Member] \| May 2011 and August 2011 Equity Incentive Plans [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, award vesting period (in years)	10 years
Twelve Months After Grant Date [Member] \| May 2011 and August 2011 Equity Incentive Plans [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Percentage of individual ownership of common stock (percentage)	25.00%
Stock option vesting period from grant date (in years)	1 year
Monthly in equal installments [Member] \| Share-based Payment Arrangement, Option [Member] \| May 2011 and August 2011 Equity Incentive Plans [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based compensation arrangement by share-based payment award, award vesting period (in years)	3 years

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