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Organization and Summary of Significant Accounting Policies - Research and Development Costs (Details) - USD ($) | 3 Months Ended | 9 Months Ended
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Sep. 30, 2019 | Sep. 30, 2018 | Sep. 30, 2019 | Sep. 30, 2018
Accounting Policies [Abstract] |  |  |  |
Outside contracted services | $ 730,190 | $ 365,689 | $ 1,974,176 | $ 1,316,581
Contracted services - related party | 101,849 | 288,175 | 827,632 | 1,021,573
Personnel related costs | 95,269 | 87,307 | 312,321 | 277,856
Facilities, overhead and other | 15,884 | 23,637 | 65,456 | 60,279
Research and development expense, related party, net | $ 943,192 | $ 764,808 | $ 3,179,585 | $ 2,676,289

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