Leases - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Lessee, Lease, Description [Line Items]
Operating lease, description	The Company’s active leases as of December 31, 2022 relate to the Company’s office and manufacturing space in Tucson, Arizona, and expire in 2025
Lease expiration year	2025
Operating lease right-of-use assets	$ 1,007,202	$ 1,345,361
Tucson, Arizona [Member]
Lessee, Lease, Description [Line Items]
Extended lease term	The Company amended its Tucson facility leases in September 2021 to extend the terms of the leases for three years through January 31, 2025. The lease extension was treated as a lease modification for accounting purposes, and allows for an additional extension of two years on the same terms and conditions
San Carlos, California [Member] | Research and Development [Member]
Lessee, Lease, Description [Line Items]
Operating lease right-of-use assets	$ 200,000