Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Accounting Policies [Abstract]
Accounts receivable, net of allowances	$ 1,790,174		$ 2,278,802
Short and long-term contract assets, net of allowance for doubtful accounts	500,000		500,000
Provision for credit loss on accounts receivable	54,869		25,720
Provision for credit loss on contract assets	5,112		0
Deferred revenue recognized	1,300,000	$ 1,400,000
Deferred revenue	$ 4,991,953		$ 4,965,849
Revenue expected to be recognized during next 12 months (percent)	72.00%
Remaining performance obligation	$ 1,600,000
Remaining performance obligation expected to be recognized over next 12 months (percent)	39.00%
Operating leases, payments	$ 17,467