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Accounts receivable consists of trade receivables as follows: (Details) - USD ($) | Dec. 31, 2021 | Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Dec. 31, 2019
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Receivables [Abstract] |  |  |  |  |  |
Billed receivables | $ 5,177,601 | $ 5,226,468 |  |  |  |
Less: allowance for doubtful accounts | (209,887) | (263,562) |  |  |  |
Total accounts receivable, net | $ 4,967,714 | $ 4,962,906 | $ 7,309,323 | $ 6,958,417 | $ 6,107,968 | $ 7,029,602

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