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Stockholders' Equity - Incentive Plans (Details)
3 Months Ended
Jan. 01, 2020
shares
Jan. 09, 2014
installment
shares
Mar. 31, 2020
USD ($)
shares
Mar. 31, 2019
USD ($)
shares
Dec. 31, 2019
Maximum          
Incentive plans          
Expiration period     10 years    
2003 Stock Incentive Plan          
Incentive plans          
Period from date of termination that any vested options shall expire     60 days    
Expiration period     10 years    
Intrinsic value of options exercised | $     $ 459,098 $ 129,250  
Cash proceeds from exercise of stock options | $     $ 129,972 12,320  
Options exercised | shares     116,046    
2003 Stock Incentive Plan | Upon first anniversary of start date          
Incentive plans          
Percent of shares subject to option grant that will vest     25.00%    
2003 Stock Incentive Plan | Each month after the first anniversary          
Incentive plans          
Percent of shares subject to option grant that will vest     2.083%    
2013 Equity Incentive Plan          
Incentive plans          
Period from date of termination that any vested options shall expire   90 days      
Expiration period   10 years      
Unrecognized compensation expense related to unvested options | $     $ 14,046,917    
Period for unrecognized compensation expense related to unvested options yet has not been recognized     1 year 10 months 24 days    
Intrinsic value of options exercised | $       23,176  
Cash proceeds from exercise of stock options | $       18,234  
Options exercised | shares     0    
Fair value of shares vested | $     $ 2,618,307 $ 2,724,218  
2013 Equity Incentive Plan | Upon first anniversary of start date          
Incentive plans          
Percent of shares subject to option grant that will vest   25.00%      
2013 Equity Incentive Plan | Each month after the first anniversary          
Incentive plans          
Number of monthly installments | installment   36      
Common Stock          
Incentive plans          
Options exercised | shares     116,046 19,418  
Common Stock | 2013 Equity Incentive Plan          
Authorized shares          
Common stock authorized under 2013 plan | shares 6,466,823 1,000,000      
Automatic increase in number of shares reserved for issuance as a percentage of the total common stock outstanding at the end of the prior year   3.00%     3.00%
Maximum number of shares that may be issued pursuant to exercise of incentive stock | shares   20,000,000      
Increase in number of shares of common stock | shares 1,304,007