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Quarterly Financial Information (Unaudited) (Details) - USD ($)
 3 Months Ended 12 Months Ended
Dec. 31, 2022
Sep. 30, 2022
Jun. 30, 2022
Mar. 31, 2022
Dec. 31, 2021
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Quarterly Financial Information Unaudited [Abstract]                              
Revenue $ 2,898,000 $ 3,427,000 $ 3,008,000 $ 2,503,000 $ 3,314,000 $ 3,019,000 $ 2,917,000 $ 3,915,000 $ 4,233,000 $ 2,779,000 $ 3,037,000 $ 1,532,000 $ 11,835,882 $ 13,164,933 $ 11,581,496
Gross profit (loss) (126,000) 868,000 262,000 479,000 (12,000) 363,000 359,000 860,000 371,000 16,000 464,000 (252,000) 1,483,126 1,568,490 597,958
Net loss $ (10,759,000) $ (9,477,000) $ (10,022,000) $ (10,506,000) $ (11,493,000) $ (10,488,000) $ (9,245,000) $ (9,151,000) $ (3,590,000) $ (4,761,000) $ (4,239,000) $ (5,362,000) $ (40,763,573) $ (40,377,160) $ (17,952,172)
Net loss per share, basic $ (0.17) $ (0.15) $ (0.16) $ (0.16) $ (0.17) $ (0.17) $ (0.15) $ (0.17) $ (0.09) $ (0.13) $ (0.13) $ (0.18) $ (0.64) $ (0.66) $ (0.53)
Net loss per share, diluted $ (0.17) $ (0.15) $ (0.16) $ (0.16) $ (0.17) $ (0.17) $ (0.15) $ (0.17) $ (0.09) $ (0.13) $ (0.13) $ (0.18) $ (0.64) $ (0.66) $ (0.53)
Net loss attributable to common stockholders $ (10,759,000) $ (9,477,000) $ (10,022,000) $ (10,506,000) $ (11,493,000) $ (10,488,000) $ (9,245,000) $ (9,151,000) $ (4,120,000) $ (5,281,000) $ (4,746,000) $ (5,861,000) $ (40,763,573) $ (40,377,160) $ (20,008,322)