Summary of Significant Accounting Policies - Revision of Previously Issued Financial Statements - Balance Sheet (Details) - USD ($)	Dec. 31, 2022	Dec. 31, 2021
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue, current	$ 3,684,742	$ 4,617,422
Current liabilities	5,711,665	6,090,652
Deferred revenue, net of current portion	1,281,107	1,764,249
Total liabilities	10,649,536	11,495,806
Accumulated deficit	(125,507,178)	(123,708,223)
Stockholders' deficit	(16,407,442)	(13,211,568)
Total liabilities and stockholders' deficit	$ 10,170,112	12,668,626
As Previously Reported
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue, current		4,557,317
Current liabilities		6,030,547
Deferred revenue, net of current portion		1,578,769
Total liabilities		11,250,221
Accumulated deficit		(123,462,638)
Stockholders' deficit		(12,965,983)
Total liabilities and stockholders' deficit		12,668,626
Adjustments
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Deferred revenue, current		60,105
Current liabilities		60,105
Deferred revenue, net of current portion		185,480
Total liabilities		245,585
Accumulated deficit		(245,585)
Stockholders' deficit		$ (245,585)