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Fixed Assets (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Property, Plant and Equipment [Line Items]      
Cost $ 25,812,899 $ 29,291,400  
Accumulated Depreciation and Amortization (20,851,913) (21,563,403)  
Net Book Value 4,960,986 7,727,997  
Depreciation 2,621,649 3,656,713 $ 3,040,096
Property, plant and equipment sold 148,000 6,100,000  
Property, plant and equipment disposed of 466,000 1,100,000  
Leasehold improvements      
Property, Plant and Equipment [Line Items]      
Cost 15,917,596 15,803,108  
Accumulated Depreciation and Amortization (11,753,081) (10,036,080)  
Net Book Value 4,164,515 5,767,028  
Research and development equipment      
Property, Plant and Equipment [Line Items]      
Cost 3,538,698 5,300,104  
Accumulated Depreciation and Amortization (3,078,165) (4,295,217)  
Net Book Value 460,533 1,004,887  
Office furniture and fixtures      
Property, Plant and Equipment [Line Items]      
Cost 2,827,476 2,827,476  
Accumulated Depreciation and Amortization (2,816,577) (2,803,800)  
Net Book Value 10,899 23,676  
Computer equipment and other      
Property, Plant and Equipment [Line Items]      
Cost 3,529,129 5,360,712  
Accumulated Depreciation and Amortization (3,204,090) (4,428,306)  
Net Book Value $ 325,039 $ 932,406