Annual report pursuant to Section 13 and 15(d)

Stockholders??? Equity (Details)

v3.22.4
Stockholders’ Equity (Details) - USD ($)
1 Months Ended 12 Months Ended
Aug. 08, 2021
Aug. 05, 2021
Jun. 11, 2021
Jun. 08, 2021
Oct. 26, 2022
Mar. 22, 2022
Jan. 29, 2021
Dec. 31, 2022
Dec. 31, 2021
Dec. 01, 2022
Nov. 01, 2022
Mar. 18, 2022
Oct. 05, 2021
Dec. 31, 2018
Stockholders’ Equity (Details) [Line Items]                            
Common stock, authorized               116,666,667 116,666,667          
Common stock par value (in Dollars per share)               $ 0.0001 $ 0.0001          
Common stock, shares issued               44,108,661 40,990,604          
Common stock, shares outstanding               44,108,661 40,990,604          
Preferred stock, shares (in Dollars per share)               $ 10,000,000 $ 10,000,000          
Preferred stock, par value (in Dollars per share)               $ 0.0001 $ 0.0001          
Preferred stock, authorized               5,000,000 5,000,000          
Certificate of designation series A preferred stock               5,000,000 5,000,000          
Preferred stock, shares outstanding                        
Description of transaction             On January 29, 2021, the Company filed a shelf Registration Statement on Form S-3 for up to $150,000,000 with the SEC (the “Form S-3”) for shares of its Common Stock; shares of its preferred stock, which the Company may issue in one or more series or classes; debt securities, which the company may issue in one or more series; warrants to purchase its Common Stock, preferred stock or debt securities; and units. The Form S-3 was declared effective by the SEC on February 5, 2021.              
Aggregate amount (in Dollars)         $ 11,696,000     $ 2,000,000            
Public offering, description     On June 11, 2021, pursuant to the 2021 Public Offering, the Company issued 7,360,000 shares of Common Stock (2021 Firm Shares and 2021 Option Shares) at a public price of $7.00 for net proceeds to the Company of $47,523,569 after deducting the underwriting discount and offering fees and expenses payable by the Company.   On June 8, 2021, the Company entered into an underwriting agreement (the “2021 Underwriting Agreement”) with Oppenheimer & Co. Inc., acting as the representative for the underwriters identified therein (the “Underwriters”), relating to the Company’s public offering (the “2021 Public Offering”) of 6,400,000 shares (the “2021 Firm Shares”) of the Company’s Common Stock. Pursuant to the 2021 Underwriting Agreement, the Company also granted the Underwriters a 30-day option to purchase up to an additional 960,000 shares of Common Stock (the “2021 Option Shares,” and together with the 2021 Firm Shares, the “2021 Shares”) to cover over-allotments. The Underwriters agreed to purchase the 2021 Firm Shares from the Company with the option to purchase the 2021 Option Shares at a price of $6.51 per share. The 2021 Shares were offered, issued, and sold pursuant to the Form S-3 and accompanying prospectus filed with the SEC under the Securities Act.                     
Option shares at price per share (in Dollars per share)               $ 6.51         $ 0.00001  
Common stock, shares issued     7,360,000                      
Net proceeds (in Dollars)     $ 7         $ 6,030,000.00            
Deducting the underwriting discount (in Dollars)     $ 47,523,569         $ 145,293 $ 0          
Sales amount (in Dollars)           $ 50,000,000                
Percentage of gross proceeds           3.00%                
ATM shares               11,995            
Sales average price (in Dollars per share)               $ 7.29            
Stock (in Dollars)                   $ 212,450 $ 202,711      
Warrants outstanding to purchase an aggregate               1,901,802            
Options term               7 years 5 months 19 days            
Warrants exercise price (in Dollars per share)                 $ 8.53          
Warrants issued 1,565,656                          
Exercise price per share (in Dollars per share) $ 7.89                          
Warrant fair value (in Dollars per share)                 $ 13,689,507          
Stock options to purchase common stock description                       The actual number of shares subject to the award is determined at the end of the performance period and may range from zero to 100% of the target shares granted depending upon the terms of the award.    
Stock options to purchase common stock, description   On August 5, 2021, the Company issued 211,038 Stock Options to employees of American Robotics in connection with the merger. Of these Stock Options 50,543 were issued as fully vested with no further service obligations and were included in the purchase consideration. The remaining 151,495 vest over a four-year period and are contingent on ongoing employment. They are included in compensation expense.            As of December 31, 2022, we had Stock Options outstanding to purchase an aggregate of 2,412,286 shares of Common Stock with a weighted-average contractual remaining life of approximately 7.58 years, and exercise prices ranging from $3.51 to $6.79 per share, resulting in a weighted average exercise price of $5.77 per share.  As of December 31, 2021, we had Stock Options outstanding to purchase an aggregate of 687,448 shares of Common Stock with a weighted-average contractual remaining life of approximately 8.20 years, and exercise prices ranging from $1.37 to $12.92 per share, resulting in a weighted average exercise price of $6.79 per share.            
Compensation expense related to non-vested options (in Dollars)               $ 2,631,636            
Weighted-average period               2 years 2 months 15 days            
Unrecognized compensation expense (in Dollars)               $ 5,690,367 $ 9,245,115          
Compensation committee grants               1,590            
Equity Incentive Plan [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Common stock reserved for issuance                           3,333,334
Warrant [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Warrants exercise price (in Dollars per share)                 $ 9.75          
Class of Warrant or Right, Number of Securities Called by Warrants or Rights                 139,605          
Maximum [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Aggregate offering price (in Dollars)         50,000,000                  
Warrants exercise price (in Dollars per share)                 $ 9.75          
Minimum [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Aggregate offering price (in Dollars)         $ 40,000,000                  
Warrants exercise price (in Dollars per share)                 $ 0.03          
Securities Purchase Agreement [Member] | Warrant [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Warrants exercise price (in Dollars per share)               $ 7.63            
Warrants issued                 3,305,854          
Weighted-average contractual remaining life                 5 years 2 months 26 days          
Securities Purchase Agreement [Member] | Maximum [Member] | Warrant [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Warrants exercise price (in Dollars per share)               7.89            
Securities Purchase Agreement [Member] | Minimum [Member] | Warrant [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Warrants exercise price (in Dollars per share)               $ 0.03            
ATM Agreement pursuant [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Net proceeds (in Dollars)               $ 65,000            
ATM shares               852,679            
Weighted average exercise price (in Dollars per share)               $ 5.62            
Compensation paid by agent (in Dollars)               $ 227,116            
Equity Incentive Plan [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Common stock reserved for issuance                 6,000,000          
RSU [Member]                            
Stockholders’ Equity (Details) [Line Items]                            
Unrecognized compensation expense (in Dollars)               $ 6,125,626 $ 9,734,567