Restructuring Costs - Summary of Restructuring Liabilities Recorded in Connection with 2017, 2019 and 2020 Plans (Details) - USD ($)	3 Months Ended					12 Months Ended
	Mar. 31, 2023	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021
Restructuring Reserve [Roll Forward]
Provisions/Additions	$ 0				$ 744
Restructuring Costs under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	127,475	$ 116,499	$ 124,017	$ 132,873	134,663
Provisions/Additions	0	0		(744)	744
Payments	(72,639)
Translation Adjustment	911	10,976	(7,518)	(8,112)	(2,534)
Ending Balance	55,747	127,475	116,499	124,017	132,873	$ 134,663
Employee Severance | Restructuring Costs under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	127,475	116,499	124,017	132,129	134,663
Provisions/Additions	0	0		0	0
Payments	(72,639)
Translation Adjustment	911	10,976	(7,518)	(8,112)	(2,534)
Ending Balance	55,747	127,475	116,499	124,017	132,129	134,663
Facility and Other Costs | Restructuring Costs under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	0	0	0	744	0
Provisions/Additions	0	0		(744)	744	833,313
Payments	0
Translation Adjustment	0	0	0	0	0
Ending Balance	$ 0	$ 0	$ 0	$ 0	$ 744	$ 0