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Organization and Summary of Significant Accounting Policies - Research and Development Costs (Details) - USD ($) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018
Accounting Policies [Abstract] |  |
Outside contracted services | $ 2,578,507 | $ 1,637,953
Contracted services - related party | 868,720 | 1,215,536
Personnel related costs | 423,898 | 376,312
Facilities, overhead and other | 85,192 | 87,363
Research and development expense, related party, net | $ 3,956,317 | $ 3,317,164

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