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Organization and Summary of Significant Accounting Policies - Research and Development Costs (Details) - USD ($)
 12 Months Ended
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