Condensed Consolidated Statements of Operations - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Revenue:
Total revenue	$ 2,520,410	$ 1,777,098	$ 6,029,760	$ 5,965,866
Operating expenses:
Cost of product and product-related services revenue	$ 983,761	$ 940,892	$ 2,740,004	$ 2,931,026
Cost, Product and Service [Extensible Enumeration]	Product revenue, us-gaap:ServiceMember	Product revenue, us-gaap:ServiceMember	Product revenue, us-gaap:ServiceMember	Product revenue, us-gaap:ServiceMember
Selling, general and administrative	$ 4,232,313	$ 4,752,321	$ 11,995,747	$ 13,683,069
Research and development	1,534,818	1,255,416	4,188,219	4,914,467
Total operating expenses	6,750,892	6,948,629	18,923,970	21,528,562
Operating loss	(4,230,482)	(5,171,531)	(12,894,210)	(15,562,696)
Other income (expense):
Interest expense	(266,593)	(273,312)	(797,239)	(749,401)
Interest income	8,387	34,636	22,419	244,534
Other income				22,268
Gain on forgiveness of PPP Loan			1,735,792
Loss on extinguishment of MidCap Credit Facility and QNAH Convertible Note				(522,394)
Total other income (expense)	(258,206)	(238,676)	960,972	(1,004,993)
Net loss before income taxes	(4,488,688)	(5,410,207)	(11,933,238)	(16,567,689)
Provision for income taxes	(1,934)	(1,581)	(20,643)	(12,548)
Net loss	$ (4,490,622)	$ (5,411,788)	$ (11,953,881)	$ (16,580,237)
Net loss per share, basic and diluted	$ (0.60)	$ (1.12)	$ (1.78)	$ (3.68)
Shares used in computing net loss per share, basic and diluted	7,440,287	4,821,562	6,727,916	4,504,469
Product and Product-related Services
Revenue:
Total revenue	$ 2,520,410	$ 1,701,068	$ 6,029,760	$ 5,417,731
Collaborative Development Services
Revenue:
Total revenue		$ 76,030		$ 548,135