Property and equipment (Details) - USD ($)	3 Months Ended	6 Months Ended
Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Property, Plant and Equipment [Abstract]
Depreciation of property and equipment	$ 1,978,114	$ 2,142,433	$ 3,977,030	$ 4,096,895

Amount of decrease in accumulated depreciation, depletion and amortization as a result of sale or disposal of property, plant and equipment.

No definition available.

Name:	us-gaap_AccumulatedDepreciationDepletionAndAmortizationSaleOfPropertyPlantAndEquipment1
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration