Revenue Recognition (Details) - Receivables, contracts assets and contract liabilities from revenue contracts with our customers - USD ($)	Sep. 30, 2023	Dec. 31, 2022	Sep. 30, 2022
Receivables Contracts Assets And Contract Liabilities From Revenue Contracts With Our Customers Abstract
Accounts receivable, net - beginning balance	$ 1,477,692	$ 2,449,882	$ 1,512,369
Accounts receivable, net - ending balance	2,437,313	1,477,692	2,449,882
Contract assets - beginning balance	794,193	735,482	662,437
Contract assets - ending balance	1,445,577	794,193	735,482
Contract liabilities - beginning balance	626,306	831,479	602,007
Contract liabilities - ending balance	$ 715,279	$ 626,306	$ 831,479