Property and Equipment - Summary of Property and Equipment (Details) - USD ($)	Sep. 30, 2021	Dec. 31, 2020
Property Plant And Equipment [Abstract]
Furniture & fixtures	$ 1,086,341	$ 1,082,717
Leasehold improvements	1,931,762	1,943,534
Equipment used in manufacturing	2,673,452	2,166,743
Equipment used in research & development	2,506,644	2,506,644
Equipment used in the field	182,762	208,005
Software	488,098	420,301
Property and equipment	8,869,059	8,327,944
Less: accumulated depreciation and amortization	(7,649,869)	(7,100,542)
Property and equipment, net	$ 1,219,190	$ 1,227,402

Field equipment.

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Research and development equipment gross.

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Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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Amount before accumulated amortization of capitalized costs for computer software, including but not limited to, acquired and internally developed computer software.

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Amount before accumulated depreciation of equipment commonly used in offices and stores that have no permanent connection to the structure of a building or utilities. Examples include, but are not limited to, desks, chairs, tables, and bookcases.

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Amount before accumulated depreciation of additions or improvements to assets held under a lease arrangement.

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Amount before accumulated depreciation of tangible personal property used to produce goods and services, including, but is not limited to, tools, dies and molds, computer and office equipment.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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