Income Taxes - Additional Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Line Items]
Income tax examination, likelihood of unfavorable settlement	greater than 50 percent
Uncertain tax positions	$ 3,200,000	$ 3,000,000.0
Accrued interest or penalties	0	0
Recognized interest or penalties	0	0
Valuation allowance	53,958,617	48,626,925
Change in valuation reserve	$ 5,300,000
Period for cumulative change in ownership	3 years
Gross unrecognized tax benefits	$ 3,193,331	$ 2,960,842	$ 2,731,015
Unrecognized tax benefits if recognized would impact effective tax rate	$ 0
CARES Act of 2020 percentage of NOL carryovers and carrybacks offsetting taxable income	100.00%
Research and Experimental Tax Credits
Income Tax Disclosure [Line Items]
Gross unrecognized tax benefits	$ 3,200,000
Minimum
Income Tax Disclosure [Line Items]
Cumulative changes in ownership percentage	50.00%
Federal
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 194,000,000.0
State
Income Tax Disclosure [Line Items]
NOL carryforwards	125,600,000
With Expiration | Federal
Income Tax Disclosure [Line Items]
NOL carryforwards	121,800,000
With Expiration | State
Income Tax Disclosure [Line Items]
NOL carryforwards	$ 124,600,000
Beginning Expiration Year | Federal
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2023
Tax credit carryforward, expiration year	2022
Beginning Expiration Year | State
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2024
Tax credit carryforward, expiration year	2022
Ending Expiration Year | Federal
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2037
Ending Expiration Year | State
Income Tax Disclosure [Line Items]
NOL carryforward expiration year	2041