Is he too old for me?

So this guy and i have been talking, and I didn’t think it was anything. But at the end of the night tonight, he kissed me and now it’s got me thinking. I’m 19, and he just turned 23. My parents are super strict and my whole family is often judgmental on these types of things. I know I shouldn’t care because it’s my relationship at the end of the day, but I really want my family to like whoever I date. I’ve dealt with rough relationships in the past and i just don’t want to go down that road again.

Is he too old for me? Is this a bad idea? Any experiences with this type of thing?