Restructuring Costs - Summary of Restructuring Liabilities Recorded in Connection with 2017, 2019 and 2020 Plans (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Restructuring Reserve [Roll Forward]
Provisions/Additions	$ 744	$ 833,313
Restructuring Costs under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	134,663	314,910
Provisions/Additions	(744)	833,313
Translation Adjustment	(7,188)	(14,336)
Utilized/Paid	(744)	(999,224)
Ending Balance	127,475	134,663
Employee Severance | Restructuring Costs under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	134,663	239,444
Provisions/Additions	0	0
Translation Adjustment	(7,188)	(14,336)
Utilized/Paid	0	(90,445)
Ending Balance	127,475	134,663
Facility and Other Costs | Restructuring Costs under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	0	75,466
Provisions/Additions	744	833,313
Translation Adjustment	0	0
Utilized/Paid	(744)	(908,779)
Ending Balance	$ 0	$ 0