Stockholders' Deficit - Summary of Stock-Based Compensation Recorded in Condensed Consolidated Statements of Operations (Details) - USD ($)	3 Months Ended		6 Months Ended
	Jun. 30, 2022	Jun. 30, 2021	Jun. 30, 2022	Jun. 30, 2021
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	$ 231,334	$ 352,486	$ 499,139	$ 703,425
Selling, General and Administrative
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	179,579	320,681	372,482	640,530
Research and Development
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	40,514	24,308	107,418	47,542
Cost of Product and Product-related Services Revenue
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	$ 11,241	$ 7,497	$ 19,239	$ 15,353