Summary of Significant Accounting Policies - Additional Information (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Accounting Policies [Abstract]
Accounts receivable, net of allowances	$ 2,285,117		$ 2,285,117		$ 2,836,571
Contract with Customer, Asset, after Allowance for Credit Loss	400,000		400,000		600,000
Deferred revenue	5,278,818		$ 5,278,818		$ 6,369,129
Revenue expected to be recognized during next 12 months (percent)			70.00%
Remaining performance obligation	$ 1,800,000		$ 1,800,000
Remaining performance obligation expected to be recognized over next 12 months (percent)	42.00%		42.00%
Deferred Revenue, Revenue Recognized	$ 1,000,000	$ 1,200,000	$ 3,900,000	$ 4,400,000