Restructuring Costs (Details Narrative)	3 Months Ended							6 Months Ended	9 Months Ended
	Sep. 30, 2021 USD ($) position	Jun. 30, 2021 USD ($)	Mar. 31, 2021 USD ($)	Dec. 31, 2020 USD ($)	Sep. 30, 2020 USD ($)	Jun. 30, 2020 USD ($)	Mar. 31, 2020 USD ($)	Jun. 30, 2021 USD ($)	Sep. 30, 2021 USD ($) position	Sep. 30, 2020 USD ($)	Apr. 30, 2021 USD ($)	Dec. 31, 2019 USD ($)
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 68,704	$ 421,737	$ 302,313	$ 274,086	$ 317,595	$ 153,685	$ 287,460		$ 792,754	$ 758,740
Restructuring Reserve	$ 137,911	141,340	249,646	314,910	354,237	393,650	436,502	$ 141,340	$ 137,911	354,237		$ 531,292
Restructuring Costs Under 2017 Plan
Restructuring Cost and Reserve [Line Items]
Entity number of employees												86
Gross Annualized Rental Cost											$ 1,500,000
Restructuring Costs Under 2019 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring costs		100,000
Number of positions eliminated, worldwide | position									23
Restructuring Costs Under 2020 Plan
Restructuring Cost and Reserve [Line Items]
Annual Expense Run Rate Reduction								$ 4,000,000
Annual Expense Run Rate Reduction Percentage								29.00%
Number of positions furloughed | position	21
Number of furloughed positions reinstated | position	20
Lease-Disposal Related Costs
Restructuring Cost and Reserve [Line Items]
Restructuring costs		421,737	302,313	274,086	317,595	153,685	210,752
Restructuring Reserve	$ 0	0	20,595	75,466	125,917	174,884	222,410	$ 0	$ 0	125,917		$ 237,493
Lease-Disposal Related Costs | Restructuring Costs Under 2017 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring costs									700,000
Employee Severance | Restructuring Costs Under 2017 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring costs		0	0	0	0	0	76,708
Restructuring Reserve	$ 137,911	$ 141,340	$ 229,051	$ 239,444	$ 228,320	$ 218,766	$ 214,092	$ 141,340	$ 137,911	$ 228,320		$ 293,799