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Licensed rights and other intangible assets - Additional Information (Details)
3 Months Ended 9 Months Ended
Sep. 30, 2021
USD ($)
Patent
Sep. 30, 2020
USD ($)
Sep. 30, 2021
USD ($)
Patent
Sep. 30, 2020
USD ($)
Dec. 31, 2020
Patent
Finite-Lived Intangible Assets [Line Items]          
Number of issued patents | Patent 87   87   77
Write off of patent and trademark cost       $ 584,509  
License rights [Member]          
Finite-Lived Intangible Assets [Line Items]          
Amortization of intangible assets $ 800,000 $ 800,000 $ 2,300,000 2,300,000  
Domestic US Patents [Member]          
Finite-Lived Intangible Assets [Line Items]          
Number of issued patents | Patent 46   46   38
Patents [Member]          
Finite-Lived Intangible Assets [Line Items]          
Amortization of intangible assets $ 100,000 $ 100,000 $ 200,000 $ 200,000