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Inventory (Details) - USD ($)
Dec. 31, 2019
Dec. 31, 2018
Inventory    
Raw materials $ 2,939,451 $ 3,408,158
Work in process 229,479 305,562
Finished goods 697,483 557,566
Inventory before allowance for excess and obsolete 3,866,413 4,271,286
Allowance for excess and obsolete (224,852) (211,843)
Total $ 3,641,561 $ 4,059,443