Restructuring Costs - Schedule Of Restructuring Costs (Details) - USD ($)	3 Months Ended						6 Months Ended
	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Jun. 30, 2021	Jun. 30, 2020
Restructuring Reserve [Roll Forward]
Beginning Balance	$ 249,646	$ 314,910	$ 354,237	$ 393,650	$ 436,502	$ 531,292	$ 314,910	$ 531,292
Provisions/Additions	421,737	302,313	274,086	317,595	153,685	287,460	724,050	441,145
Utilized/Paid	(532,777)	(357,184)	(324,537)	(366,562)	(201,211)	(382,250)
Translation Adjustment	2,734	(10,393)	11,124	9,554	4,674
Ending Balance	141,340	249,646	314,910	354,237	393,650	436,502	141,340	393,650
Employee Severance | Restructuring Costs Under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	229,051	239,444	228,320	218,766	214,092	293,799	239,444	293,799
Provisions/Additions	0	0	0	0	0	76,708
Utilized/Paid	(90,445)	0	0	0	0	(156,415)
Translation Adjustment	2,734	(10,393)	11,124	9,554	4,674
Ending Balance	141,340	229,051	239,444	228,320	218,766	214,092	141,340	218,766
Facility and Other Costs
Restructuring Reserve [Roll Forward]
Beginning Balance	20,595	75,466	125,917	174,884	222,410	237,493	75,466	237,493
Provisions/Additions	421,737	302,313	274,086	317,595	153,685	210,752
Utilized/Paid	(442,332)	(357,184)	(324,537)	(366,562)	(201,211)	(225,835)
Translation Adjustment	0	0	0	0	0
Ending Balance	$ 0	$ 20,595	$ 75,466	$ 125,917	$ 174,884	$ 222,410	0	$ 174,884
Facility and Other Costs | Restructuring Costs Under 2017 Plan
Restructuring Reserve [Roll Forward]
Provisions/Additions							$ 700,000