Revenue Recognition - Information by geographic region (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Contract Liabilities
Total revenue	$ 10,907,302	$ 7,699,096	$ 29,941,721	$ 23,171,329
United States
Contract Liabilities
Total revenue	8,676,488	6,465,184	23,992,474	17,430,206
International
Contract Liabilities
Total revenue	$ 2,230,814	$ 1,233,912	$ 5,949,247	$ 5,741,123