Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Income Tax Disclosure [Line Items]
Valuation allowance	$ 59,805,688	$ 53,958,617
Change in valuation reserve	$ 5,800,000
Period for cumulative change in ownership	3 years
Gross unrecognized tax benefits	$ 3,419,916	$ 3,193,331	$ 2,960,842
Unrecognized tax benefits if recognized would impact effective tax rate	0
Research
Income Tax Disclosure [Line Items]
Gross unrecognized tax benefits	$ 3,400,000
Minimum
Income Tax Disclosure [Line Items]
Cumulative changes in ownership percentage	50.00%
Federal
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 206,200,000
Federal | With Expiration
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 121,600,000
Federal | Beginning Expiration Year
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2023
Federal | Ending Expiration Year
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2037
State
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 155,200,000
State | With Expiration
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 154,200,000
State | Beginning Expiration Year
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2024
State | Ending Expiration Year
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2042