Stockholders Deficit - Summary of Stock-Based Compensation Recorded in Condensed Consolidated Statements of Operations (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	$ 338,893	$ 392,163	$ 1,042,318	$ 1,179,714
Selling, General and Administrative
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	293,916	383,679	934,446	1,079,754
Research and Development
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	35,566	2,044	83,108	85,462
Cost of Product and Product-related Services Revenue
Employee Service Share Based Compensation Allocation Of Recognized Period Costs [Line Items]
Stock-based compensation	$ 9,411	$ 6,440	$ 24,764	$ 14,498