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Stock Option Plans - Additional Information (Details) - USD ($) | 3 Months Ended | 9 Months Ended
--- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Unrecognized compensation expense | $ 3,600,000 |  | $ 3,600,000 |
Estimated weighted average amortization period |  |  | 3 years 1 month 20 days |
Number of stock options granted | 0 |  | 2,911,750 |
Weighted average grant date fair value of options granted |  | $ 0.57 | $ 0.41 | $ 0.78
Number of stock options vested | 619,104 | 108,611 | 924,715 | 314,380
Restricted Stock [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Estimated weighted average amortization period |  |  | 3 years 1 month 9 days |
Unrecognized equity-based compensation | $ 551,650 |  | $ 551,650 |
Number of shares vested | 31,250 |  | 106,250 |
Fair Value of shares vested | $ 44,325 |  | $ 186,075 |
2014 Equity Incentive Plan [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Common stock reserved for future issuance | 7,334,036 |  | 7,334,036 |
Common stock available for grant | 3,237,007 |  | 3,237,007 |
Number of stock options granted |  |  | 4,097,029 |
Omnibus Equity Incentive Plan [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Common stock reserved for future issuance | 11,000,000 |  | 11,000,000 |
Common stock reserved for future issuance increased, percentage |  |  | 2.00% |
2021 Equity Incentive Plan [Member] |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |
Common stock reserved for future issuance | 12,877,631 |  | 12,877,631 |
Common stock available for grant | 6,484,556 |  | 6,484,556 |
Number of stock options granted |  |  | 6,393,075 |

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