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Property and Equipment - Schedule of Carrying Value (Details) - USD ($)
Dec. 31, 2022
Dec. 31, 2021
Property, Plant and Equipment [Line Items]    
Property, plant and equipment, gross $ 16,521,397 $ 14,831,528
Less: accumulated depreciation and amortization (14,852,425) (13,324,762)
Total 1,668,972 1,506,766
Furniture and fixtures    
Property, Plant and Equipment [Line Items]    
Property, plant and equipment, gross 293,152 293,152
Equipment    
Property, Plant and Equipment [Line Items]    
Property, plant and equipment, gross 1,265,752 1,164,671
Capitalized labor    
Property, Plant and Equipment [Line Items]    
Property, plant and equipment, gross 14,503,608 12,914,820
Leasehold improvements    
Property, Plant and Equipment [Line Items]    
Property, plant and equipment, gross $ 458,885 $ 458,885