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Revenues - Additional Information (Details)	3 Months Ended		6 Months Ended
	Jun. 30, 2023 USD ($) payment	Jun. 30, 2022 USD ($)	Jun. 30, 2023 USD ($) payment	Jun. 30, 2022 USD ($)
Revenue from External Customer [Line Items]
Revenues	$ 10,888,877	$ 10,299,152	$ 20,113,515	$ 21,474,197
Sublease income	130,842	161,804	$ 245,499	296,237
Vibativ | Collaborative Arrangement, Transaction with Party to Collaborative Arrangement
Revenue from External Customer [Line Items]
Milestone payments received	$ 1,000,000
Milestone payments, number of payments | payment	2		2
Milestone payments, receivable	$ 500,000		$ 500,000
Grant
Revenue from External Customer [Line Items]
Revenues	$ 60,000.00	$ 40,000.00	$ 100,000	$ 80,000.00

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