Intangible Assets - Schedule of Intangible Assets (Detail) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Schedule Of Intangible Assets [Line Items]
Intangible assets subject to amortization, Gross Carrying Value	$ 1,169,787	$ 1,031,323
Intangible assets subject to amortization, Accumulated Amortization	(764,908)	(718,095)
Intangible assets subject to amortization, Net Book Value	404,879	313,228
Total intangible assets, Gross Carrying Value	13,588,754	14,450,290
Intangible Assets, Impairment		(1,000,000)
Total intangible assets, Net Book Value	12,823,846	12,732,195
IPR&D [Member]
Schedule Of Intangible Assets [Line Items]
Total intangible assets, Gross Carrying Value	12,418,967	13,418,967
Total intangible assets, Impairment		(1,000,000)
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	884,787	746,323
Intangible assets subject to amortization, Accumulated Amortization	(479,908)	(448,874)
Intangible assets subject to amortization, Net Book Value	$ 404,879	$ 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	$ (285,000)	(269,221)
Intangible assets subject to amortization, Net Book Value		$ 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