Quarterly Financial Information (Unaudited) (Details) - USD ($)	3 Months Ended												6 Months Ended	9 Months Ended	12 Months Ended
	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Jun. 30, 2021	Sep. 30, 2021	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Quarterly Financial Information Unaudited [Abstract]
Revenue	$ 3,314,000	$ 3,018,774	$ 2,916,538	$ 3,915,389	$ 4,233,000	$ 2,779,000	$ 3,037,000	$ 1,532,000	$ 1,953,000	$ 1,159,000	$ 2,186,000	$ 1,373,000			$ 13,164,933	$ 11,581,496	$ 6,670,604
Gross profit (loss)	209,000	583,337	579,372	1,079,591	703,000	348,000	796,000	81,000	(4,369,000)	(231,000)	152,000	40,000			2,450,845	1,927,609	(4,408,121)
Net loss	$ (11,493,000)	$ (10,487,548)	$ (9,245,472)	$ (9,151,370)	$ (3,590,000)	$ (4,761,000)	$ (4,239,000)	$ (5,362,000)	$ (9,583,000)	$ (5,477,000)	$ (5,056,000)	$ (6,360,000)	$ (18,396,842)	$ (28,884,390)	$ (40,377,160)	$ (17,952,172)	$ (26,476,370)
Net loss per share, basic	$ (0.17)	$ (0.17)	$ (0.15)	$ (0.17)	$ (0.09)	$ (0.13)	$ (0.13)	$ (0.18)	$ (0.31)	$ (0.18)	$ (0.20)	$ (0.25)			$ (0.66)	$ (0.53)	$ (0.94)
Net loss per share, diluted	$ (0.17)	$ (0.17)	$ (0.15)	$ (0.17)	$ (0.09)	$ (0.13)	$ (0.13)	$ (0.18)	$ (0.31)	$ (0.18)	$ (0.20)	$ (0.25)			$ (0.66)	$ (0.53)	$ (0.94)
Net loss attributable to common stockholders	$ (11,493,000)	$ (10,488,000)	$ (9,245,000)	$ (9,151,000)	$ (4,120,000)	$ (5,281,000)	$ (4,746,000)	$ (5,861,000)	$ (10,081,000)	$ (5,967,000)	$ (5,534,000)	$ (6,826,000)			$ (40,377,160)	$ (20,008,322)	$ (28,408,230)