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Organization and Summary of Significant Accounting Policies - Research and Development Costs (Details) - USD ($) | 3 Months Ended | 6 Months Ended
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Jun. 30, 2020 | Jun. 30, 2019 | Jun. 30, 2020 | Jun. 30, 2019
Accounting Policies [Abstract] |  |  |  |
Outside contracted services | $ 970,846 | $ 658,499 | $ 1,584,636 | $ 1,243,986
Contracted services - related party | 0 | 336,310 | 0 | 725,783
Personnel related costs | 139,515 | 122,290 | 263,153 | 217,052
Facilities, overhead and other | 5,802 | 37,451 | 23,827 | 49,572
Research and development expense, related party, net | $ 1,116,163 | $ 1,154,550 | $ 1,871,616 | $ 2,236,393

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