Leases - Additional Information (Details) - USD ($)	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020
Lessee Lease Description [Line Items]
Operating lease, description	The Company’s active leases as of September 30, 2021 are for office and manufacturing space in Tucson, Arizona, which expire in 2025.
Lease expiration year	2025
Operating lease right-of-use assets	$ 1,444,348	$ 1,009,097
Financing lease liabilities, net of discount	52,635
Financing lease liabilities, current	$ 17,558
Finance Lease, Liability, Current, Statement of Financial Position [Extensible List]	Other current liabilities
Financing lease liabilities, non current	$ 35,077
Finance Lease, Liability, Noncurrent, Statement of Financial Position [Extensible List]	Other non-current liabilities
Financing leases, right-of-use assets	$ 48,269
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 and again in September 2021 to extend the terms of the leases for three years, through January 31, 2025. The lease extensions were treated as lease modifications for accounting purposes, and allow for an additional extension of two 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