Restructuring Costs - Schedule Of Restructuring Costs (Details) - USD ($)	3 Months Ended							9 Months Ended
	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Sep. 30, 2021	Sep. 30, 2020
Restructuring Reserve [Roll Forward]
Beginning Balance	$ 141,340	$ 249,646	$ 314,910	$ 354,237	$ 393,650	$ 436,502	$ 531,292	$ 314,910	$ 531,292
Provisions/Additions	68,704	421,737	302,313	274,086	317,595	153,685	287,460	792,754	758,740
Utilized/Paid		(532,777)	(357,184)	(324,537)	(366,562)	(201,211)	(382,250)
Translation Adjustment	(3,429)	2,734	(10,393)	11,124	9,554	4,674
Ending Balance	137,911	141,340	249,646	314,910	354,237	393,650	436,502	137,911	354,237
Employee Severance | Restructuring Costs Under 2017 Plan
Restructuring Reserve [Roll Forward]
Beginning Balance	141,340	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	(3,429)	2,734	(10,393)	11,124	9,554	4,674
Ending Balance	137,911	141,340	229,051	239,444	228,320	218,766	214,092	137,911	228,320
Facility and Other Costs
Restructuring Reserve [Roll Forward]
Beginning Balance	0	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	0
Ending Balance	$ 0	$ 0	$ 20,595	$ 75,466	$ 125,917	$ 174,884	$ 222,410	0	$ 125,917
Facility and Other Costs | Restructuring Costs Under 2017 Plan
Restructuring Reserve [Roll Forward]
Provisions/Additions								$ 700,000