Intangible Assets - Schedule of Intangible Assets (Detail) - USD ($)	6 Months Ended	12 Months Ended
	Jun. 30, 2021	Dec. 31, 2020
Schedule Of Intangible Assets [Line Items]
Intangible assets subject to amortization, Gross Carrying Value	$ 1,315,333	$ 1,169,787
Intangible assets subject to amortization, Accumulated Amortization	(778,188)	(764,908)
Intangible assets subject to amortization, Net Book Value	537,145	404,879
Total intangible assets, Gross Carrying Value	13,734,300	13,588,754
Total intangible assets, Net Book Value	12,956,112	12,823,846
IPR&D [Member]
Schedule Of Intangible Assets [Line Items]
Total intangible assets, Gross Carrying Value	12,418,967	12,418,967
Total intangible assets, Net Book Value	12,418,967	12,418,967
Internally Developed Patents [Member]
Schedule Of Intangible Assets [Line Items]
Intangible assets subject to amortization, Gross Carrying Value	1,030,333	884,787
Intangible assets subject to amortization, Accumulated Amortization	(493,188)	(479,908)
Intangible assets subject to amortization, Net Book Value	$ 537,145	$ 404,879
Internally Developed Patents [Member] | Minimum [Member]
Schedule Of Intangible Assets [Line Items]
Estimated Useful Lives	6 years	6 years
Internally Developed Patents [Member] | Maximum [Member]
Schedule Of Intangible Assets [Line Items]
Estimated Useful Lives	20 years	10 years
Acquired Licenses [Member]
Schedule Of Intangible Assets [Line Items]
Intangible assets subject to amortization, Gross Carrying Value	$ 285,000	$ 285,000
Intangible assets subject to amortization, Accumulated Amortization	$ (285,000)	$ (285,000)
Acquired Licenses [Member] | Minimum [Member]
Schedule Of Intangible Assets [Line Items]
Estimated Useful Lives	16 years	16 years
Acquired Licenses [Member] | Maximum [Member]
Schedule Of Intangible Assets [Line Items]
Estimated Useful Lives	20 years	20 years