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Consolidated Statements of Operations (Unaudited) (Parenthetical) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Income Statement [Abstract]        
Research and development costs, net of grants amounting $ 743,320 $ 645,731 $ 2,265,408 $ 1,651,661