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Intangible Assets (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Jun. 30, 2019
Jun. 30, 2018
Dec. 31, 2018
Intangible assets          
Intangible Assets, gross $ 1,316,142   $ 1,316,142   $ 1,281,743
Accumulated amortization (494,205)   (494,205)   (449,224)
Total 821,937   821,937   832,519
Amortization expense of intangible assets 22,490 $ 22,491 44,981 $ 44,351  
Expected annual amortization expense          
Six months ending December 31, 2019 44,982   44,982    
2020 89,963   89,963    
2021 89,963   89,963    
2022 89,392   89,392    
2023 88,740   88,740    
2024 88,439   88,439    
Patents - in use          
Intangible assets          
Intangible Assets, gross 304,270   304,270   304,270
Patents - in process          
Intangible assets          
Intangible Assets, gross 87,053   87,053   73,164
Internally developed software - in use          
Intangible assets          
Intangible Assets, gross 867,569   867,569   867,569
Internally developed software - in process          
Intangible assets          
Intangible Assets, gross 34,233   34,233   13,723
Trademarks          
Intangible assets          
Intangible Assets, gross $ 23,017   $ 23,017   $ 23,017