Summary of Significant Accounting Policies - Schedule of Net Earnings Per Share (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Accounting Policies [Abstract]
Net income attributable to stockholders of DocGo Inc. and Subsidiaries	$ 6,858,455	$ 34,584,498	$ 23,743,758
Weighted-average shares - basic (in shares)	103,511,299	101,228,369	80,293,959
Effect of dilutive options (in shares)	2,106,518	1,747,462	14,569,654
Weighted-average shares outstanding - Diluted (in shares)	105,617,817	102,975,831	94,863,613
Net income share - basic (in dollars per shares)	$ 0.07	$ 0.34	$ 0.30
Net income share - diluted (in dollars per shares)	$ 0.06	$ 0.34	$ 0.25
Anti-dilutive employee share-based awards excluded (in shares)	10,638,371	9,000,750	0