Revenue Recognition (Details) - Receivables, contracts assets and contract liabilities from revenue contracts with our customers - USD ($)	Jun. 30, 2023	Dec. 31, 2022	Jun. 30, 2022
Receivables Contracts Assets And Contract Liabilities From Revenue Contracts With Our Customers Abstract
Accounts receivable, net - beginning balance	$ 1,477,692	$ 2,038,790	$ 1,512,369
Accounts receivable, net - ending balance	3,106,417	1,477,692	2,038,790
Contract assets - beginning balance	794,193	711,156	662,437
Contract assets - ending balance	1,165,391	794,193	711,156
Contract liabilities - beginning balance	626,306	608,626	602,007
Contract liabilities - ending balance	$ 535,458	$ 626,306	$ 608,626