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Stock-Based Compensation, Stock Option Activity (Details)
12 Months Ended
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
Unamortized Stock Compensation Expense [Abstract]    
Weighted-average grant date fair value, granted (in dollars per share) | $ / shares $ 4.4 $ 7.65
Nonemployee [Member]    
Stock-Based Compensation [Abstract]    
Options granted | $ $ 1,383 $ 1,389
Stock Options [Member]    
Number of Shares [Roll Forward]    
Options outstanding, beginning balance (in shares) | shares 3,163,835  
Granted (in shares) | shares 1,596,005  
Exercised (in shares) | shares (279,611)  
Forfeited (in shares) | shares (308,918)  
Options outstanding, ending balance (in shares) | shares 4,171,311 3,163,835
Vested and expected to vest (in shares) | shares 4,171,311  
Exercisable (in shares) | shares 1,819,185  
Weighted Average Exercise Price [Roll Forward]    
Options outstanding, beginning balance (in dollars per share) | $ / shares $ 5.57  
Granted (in dollars per share) | $ / shares 5.5  
Exercised (in dollars per share) | $ / shares 5.68  
Forfeited (in dollars per share) | $ / shares 5.24  
Options outstanding, ending balance (in dollars per share) | $ / shares 5.56 $ 5.57
Vested and expected to vest (in dollars per share) | $ / shares 5.56  
Exercisable (in dollars per share) | $ / shares $ 6.09  
Weighted Average Remaining Contractual Life and Aggregate Intrinsic Value [Abstract]    
Options outstanding, weighted average remaining contractual life 7 years 10 months 20 days 7 years 10 months 24 days
Granted, weighted average remaining contractual life 9 years 1 month 20 days  
Vested and expected to vest, weighted average contractual life 7 years 10 months 20 days  
Exercisable, weighted average contractual life 6 years 9 months 25 days  
Options outstanding, aggregate intrinsic value | $ $ 10,839,589  
Granted, aggregate intrinsic value | $ 560,930  
Exercised, aggregate intrinsic value | $ 0  
Forfeited, aggregate intrinsic value | $ 0  
Options outstanding, aggregate intrinsic value | $ 32,779,920 $ 10,839,589
Vested and expected to vest, aggregate intrinsic value | $ 32,779,920  
Exercisable, aggregate intrinsic value | $ 13,785,526  
Unamortized Stock Compensation Expense [Abstract]    
Unamortized stock compensation expense | $ $ 12,257,982  
Period for recognition 2 years 7 months 17 days  
Weighted-average grant date fair value, granted (in dollars per share) | $ / shares $ 4.4