Stock-Based Compensation - Summary of Stock Option Activities (Details) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share-Based Payment Arrangement [Abstract]
Number of options outstanding, beginning of period	1,867,458	1,770,739
Number of options granted	91,000	237,364
Number of options exercised	(148,664)	(108,176)
Number of options, forfeited or cancelled	(26,342)	(31,441)
Number of options,Expired	(4,114)	(1,028)
Number of options outstanding, ending of period	1,779,338	1,867,458	1,770,739
Number of options exercisable, end of period	942,998	473,686
Weighted average exercise price outstanding, beginning of period	$ 3.11	$ 2.96
Weighted average exercise price, options granted	1.88	2.33
Weighted average exercise price, options exercised	0.16	0.15
Weighted average exercise price, options forfeited or cancelled	1.86	0.41
Weighted average exercise price, options expired	3.4	0.21
Weighted average exercise price outstanding, end of period	3.31	3.11	$ 2.96
Weighted average exercise price, options exercisable	$ 3.07	$ 3.06
Weighted average remaining contracted terms (in years) outstanding, beginning of period		8 years 6 months	9 years
Weighted average remaining contracted terms (in years) outstanding, ending of period	7 years 8 months 12 days	8 years 6 months
Weighted average remaining contracted terms (in years) exercisable	7 years 7 months 6 days	8 years 3 months 18 days
Aggregate intrinsic value outstanding, beginning of period	$ 671,878	$ 1,124,215
Aggregate intrinsic value outstanding, end of period	238,210	671,878	$ 1,124,215
Aggregate intrinsic value options exercisable	$ 173,385	$ 198,258