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Stock-Based Compensation - Stock option activity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Number of Shares    
Outstanding at beginning of the year 1,657,342 1,489,748
Granted 367,329 348,294
Exercised (59,897) (70,101)
Forfeited (10,000) (110,599)
Outstanding at end of the year 1,954,774 1,657,342
Exercisable at end of year 1,600,577  
Weighted Average Exercise Price    
Outstanding at beginning of the year (in dollars per share) $ 13.95 $ 13.82
Granted (in dollars per share) 8.57 15.90
Exercised (in dollars per share) 0.14 1.97
Forfeited (in dollars per share) 4.39 25.93
Outstanding at end of the year (in dollars per share) 13.41 $ 13.95
Exercisable at end of year (in dollars per share) $ 14.30  
Weighted Average Remaining Contractual Term    
Outstanding at end of the year (in years) 6 years 1 month 6 days  
Exercisable at end of year (in years) 5 years 4 months 20 days  
Aggregate intrinsic value of options outstanding $ 17,862,936  
Aggregate intrinsic value of options exercisable $ 14,532,422