Condensed Consolidated Statements of Operations - USD ($)	3 Months Ended
	Mar. 31, 2021	Mar. 31, 2020
Revenue:
Total revenue	$ 1,435,146	$ 2,225,474
Operating expenses:
Cost of product and product-related services revenue	$ 785,200	$ 1,015,492
Type of Cost, Good or Service [Extensible List]	Product and Product-related Services	Product and Product-related Services
Selling, general and administrative	$ 3,859,619	$ 4,675,263
Research and development	1,372,040	1,926,275
Total operating expenses	6,016,859	7,617,030
Operating loss	(4,581,713)	(5,391,556)
Other income (expense):
Interest expense	(270,357)	(225,330)
Interest income	6,212	141,896
Other income		22,268
Total other expense	(264,145)	(61,166)
Net loss before income taxes	(4,845,858)	(5,452,722)
Provision for income taxes	(2,449)	(5,176)
Net loss	$ (4,848,307)	$ (5,457,898)
Net loss per share, basic and diluted	$ (0.80)	$ (1.27)
Shares used in computing net loss per share, basic and diluted	6,040,752	4,304,529
Product and Product-related Services
Revenue:
Total revenue	$ 1,435,146	$ 1,988,137
Collaborative Development Services
Revenue:
Total revenue		$ 237,337