Summary of Significant Accounting Policies - Revision of Previously Issued Financial Statements - Balance Sheet (Details) - USD ($)	Dec. 31, 2021	Dec. 31, 2020
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Other long-term liabilities	$ 950,843	$ 934,785
Deferred Revenue, Noncurrent	1,578,769	2,467,589
Total liabilities	11,250,221	16,006,164
Accumulated deficit	(123,462,638)	(123,665,970)
Stockholders' Equity Attributable to Parent	(12,965,983)	(15,540,812)
Liabilities and Equity	$ 12,668,626	13,406,074
Previously Reported [Member]
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Other long-term liabilities		703,889
Deferred Revenue, Noncurrent		1,765,859
Total liabilities		15,073,538
Accumulated deficit		(122,733,344)
Stockholders' Equity Attributable to Parent		(14,608,186)
Liabilities and Equity		13,406,074
Adjustment [Member]
Error Corrections and Prior Period Adjustments Restatement [Line Items]
Other long-term liabilities		230,896
Deferred Revenue, Noncurrent		701,730
Total liabilities		932,626
Accumulated deficit		(932,626)
Stockholders' Equity Attributable to Parent		(932,626)
Liabilities and Equity		$ 0