Revenue Recognition (Details) - Receivables, contracts assets and contract liabilities from revenue contracts with our customers - USD ($)	Mar. 31, 2023	Dec. 31, 2022	Mar. 31, 2022
Receivables Contracts Assets And Contract Liabilities From Revenue Contracts With Our Customers Abstract
Accounts receivable, net - beginning balance	$ 1,477,692	$ 1,790,233	$ 1,512,369
Accounts receivable, net - ending balance	1,751,045	1,477,692	1,790,233
Contract assets - beginning balance	794,193	701,963	662,437
Contract assets - ending balance	810,814	794,193	701,963
Contract liabilities - beginning balance	626,306	849,479	602,007
Contract liabilities - ending balance	$ 776,984	$ 626,306	$ 849,479