Restructuring Costs - Schedule of Restructuring Costs (Details) - USD ($)	3 Months Ended	12 Months Ended
	Mar. 31, 2021	Dec. 31, 2021	Dec. 31, 2020
Restructuring Reserve [Roll Forward]
Provisions/Additions		$ 833,313	$ 1,032,826
Restructuring Plan, 2013, 2017 and 2019 (1) [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance	$ 314,910	314,910	531,292
Provisions/Additions		833,313	1,032,826
Restructuring Reserve, Foreign Currency Translation Gain (Loss)		(14,336)	25,353
Utilized/Paid		(999,224)	(1,274,561)
Ending Balance		134,663	314,910
Severance related costs | Restructuring Costs Under 2019 Plan [Member]
Restructuring Reserve [Roll Forward]
Provisions/Additions	100,000	0	76,708
Restructuring Reserve, Foreign Currency Translation Gain (Loss)		(14,336)	25,353
Severance related costs | Restructuring Plan, 2017 [Member]
Restructuring Reserve [Roll Forward]
Ending Balance		134,663
Severance related costs | Restructuring Plan, 2013, 2017 and 2019 (1) [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance	239,444	239,444	293,799
Utilized/Paid		(90,445)	(156,416)
Ending Balance		134,663	239,444
Facility and other costs | Restructuring Plan, 2017 [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance	$ 75,466	75,466	237,493
Provisions/Additions		833,313	956,118
Restructuring Reserve, Foreign Currency Translation Gain (Loss)		0	0
Utilized/Paid		(908,779)	(1,118,145)
Ending Balance		$ 0	$ 75,466