Stock Awards and Stock-Based Compensation - Schedule of Stock-Based Compensation Expense (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Stock Awards and Stock-Based Compensation
Total stock-based compensation expense	$ 97,737	$ 459,646	$ 157,311	$ 747,432
Cost of services
Stock Awards and Stock-Based Compensation
Total stock-based compensation expense	161	1,220	656	3,394
Research and development
Stock Awards and Stock-Based Compensation
Total stock-based compensation expense	12,766	50,440	31,620	110,300
Selling, general, and administrative
Stock Awards and Stock-Based Compensation
Total stock-based compensation expense	$ 84,810	$ 407,986	$ 125,035	$ 633,738