Intangible Assets - Schedule of Intangible Assets (Detail) - USD ($)	9 Months Ended	12 Months Ended
	Sep. 30, 2020	Dec. 31, 2019
Schedule Of Intangible Assets [Line Items]
Intangible assets subject to amortization, Gross Carrying Value	$ 1,130,216	$ 1,031,323
Intangible assets subject to amortization, Accumulated Amortization	(754,377)	(718,095)
Intangible assets subject to amortization, Net Book Value	375,839	313,228
Total intangible assets, Gross Carrying Value	13,549,183	13,450,290
Total intangible assets, Net Book Value	12,794,806	12,732,195
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	845,216	746,323
Intangible assets subject to amortization, Accumulated Amortization	(473,314)	(448,874)
Intangible assets subject to amortization, Net Book Value	$ 371,902	$ 297,449
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	10 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	(281,063)	(269,221)
Intangible assets subject to amortization, Net Book Value	$ 3,937	$ 15,779
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