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Summary of Significant Accounting Policies (Details Narrative) - USD ($)
9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Jul. 31, 2020
Product Information [Line Items]        
Restricted cash $ 2,300,000   $ 0  
Compensating balance, amount 251,548   250,620  
Money market funds 2,300,000   1,400,000  
Remaining performance obligation 6,500,000      
Contract with customer, liability, revenue recognized 4,800,000 $ 4,700,000    
Capitalized contract cost, net $ 200,000   $ 300,000  
Weighted average exercise price $ 4.10   $ 2.90  
Series A Convertible Preferred Stock [Member]        
Product Information [Line Items]        
Potential common shares excluded from diluted earnings per share 44,785,320      
Series B Convertible Preferred Stock [Member]        
Product Information [Line Items]        
Potential common shares excluded from diluted earnings per share 5,610,121      
Stock Options and Stock Appreciation Rights [Member]        
Product Information [Line Items]        
Potential common shares excluded from diluted earnings per share 2,842,490      
Weighted average exercise price $ 4.10      
Restricted Stock [Member]        
Product Information [Line Items]        
Number of unvested restricted share units 1,164,723      
Revenue From System Delivery and Installation [Member]        
Product Information [Line Items]        
Concentration risk percentage 33.00% 15.00%    
Disposable Revenue [Member]        
Product Information [Line Items]        
Concentration risk percentage 23.00% 27.00%    
Royalty Revenue [Member]        
Product Information [Line Items]        
Concentration risk percentage 7.00% 8.00%    
Other Recurring Revenue [Member]        
Product Information [Line Items]        
Concentration risk percentage 34.00% 46.00%    
Sublease Revenue [Member].        
Product Information [Line Items]        
Concentration risk percentage 3.00% 4.00%    
Systems [Member]        
Product Information [Line Items]        
Product warranty expense $ 200,000      
Maximum [Member] | Systems [Member]        
Product Information [Line Items]        
Product warranty expense   $ 100,000    
Letter of Credit [Member]        
Product Information [Line Items]        
Compensating balance, amount       $ 300,000
Letter of Credit [Member] | Maximum [Member]        
Product Information [Line Items]        
Line of credit, current       $ 300,000