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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