Stockholders' Equity - Summary of Stock Option Activity (Details) - Stock Options - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of Shares, Outstanding beginning balance	1,025,499	1,320,267
Number of Shares, Forfeited / Canceled	(1,000)	(13,772)
Number of Shares, Exercised	(53,819)	(280,996)
Number of Shares, Outstanding ending balance	970,680	1,025,499	1,320,267
Number of Shares, Exercisable ending balance	969,010
Number of Shares, Vested and expected to vest ending balance	970,680
Weighted Average Exercise Price, Outstanding beginning balance	$ 2.01	$ 1.81
Weighted Average Exercise Price, Forfeited / Canceled	2.43	2.66
Weighted Average Exercise Price, Exercised	0.78	1.05
Weighted Average Exercise Price, Outstanding ending balance	2.07	$ 2.01	$ 1.81
Weighted Average Exercise Price, Exercisable ending balance	2.07
Weighted Average Exercise Price, Vested and expected to vest ending balance	$ 2.07
Weighted Average Remaining Contractual Life (in years), Outstanding balance	5 years 7 months 9 days	6 years 4 months 6 days	6 years 5 months 4 days
Weighted Average Remaining Contractual Life (in years), Exercisable balance	5 years 7 months 9 days
Weighted Average Remaining Contractual Life (in years), Vested and expected to vest balance	5 years 7 months 9 days
Aggregate Intrinsic Value, Outstanding balance	$ 988,197	$ 3,014,448	$ 2,889,274
Aggregate Intrinsic Value, Forfeited / Cancelled balance	(580)	(28,359)
Aggregate Intrinsic Value, Exercised balance	(119,833)	$ (1,096,540)
Aggregate Intrinsic Value, Exercisable balance	987,679
Aggregate Intrinsic Value, Vested and expected to vest balance	$ 988,197