Leases - Additional Information (Details) - USD ($)	3 Months Ended
	Mar. 31, 2021	Dec. 31, 2020
Lessee Lease Description [Line Items]
Operating lease, description	The Company’s active leases as of March 31, 2021 are for office and manufacturing space in Tucson, Arizona, which expire in 2022.
Lease expiration year	2022
Operating lease right-of-use assets	$ 349,074	$ 1,009,097
Financing lease liabilities, net of discount	63,769
Financing lease liabilities, current	$ 20,293
Finance Lease, Liability, Current, Statement of Financial Position [Extensible List]	Other current liabilities
Financing lease liabilities, non current	$ 43,476
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other non-current liabilities
Financing leases, right-of-use assets	$ 59,671
Tucson, Arizona
Lessee Lease Description [Line Items]
Extended lease term	The Company amended its Tucson facility leases in December 2020 to extend the terms of the leases for one year, through January 31, 2022. The lease extensions were treated as lease modifications for accounting purposes, and allow for an additional extension of three years on the same terms and conditions
San Carlos, California | Research and Development Expense
Lessee Lease Description [Line Items]
Operating lease right-of-use assets	$ 200,000