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The following table presents the impact of the Restatement on the Company’s shareholders’ deficit as of December 31, 2019 (as restated), March 31, 2020 (as restated), June 30, 2020 (as restated), September 30, 2020 (as restated) and December 31, 2020 (as (Details) - USD ($)
 3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Jun. 30, 2021
Mar. 31, 2021
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance (in shares)     11,951,271         11,951,271      
Beginning balance, value $ (10,559,255) $ (11,407,462) $ (12,983,732) $ (13,240,985) $ (14,221,851) $ (13,050,493) $ (10,040,323) $ (12,983,732) $ (10,040,323) $ (10,040,323)  
Net income (loss) 5,425,255 623,151 1,232,543 223,398 839,765 (1,360,561) (3,357,355) $ 7,280,949 (3,878,151)    
Stock-based compensation expense $ 154,649 225,098 343,727 $ 33,855 141,101 189,203 347,185        
Ending balance (in shares) 12,301,811     11,951,271       12,301,811   11,951,271  
Ending balance, value $ (4,979,351) $ (10,559,255) (11,407,462) $ (12,983,732) (13,240,985) (14,221,851) (13,050,493) $ (4,979,351) (13,240,985) $ (12,983,732) $ (10,040,323)
Previously Reported [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance, value     (8,349,334)         (8,349,334)      
Net income (loss)       1,273,703 815,209 (596,831) (2,812,519)   (2,594,141)    
Ending balance, value       (8,349,334)           (8,349,334)  
Inventory Costing Errors [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance, value     (2,120,439)         (2,120,439)      
Net income (loss)       (1,071,395) (112,446) (510,244) (315,999)   (938,689) (2,010,084)  
Ending balance, value       (2,120,439)           (2,120,439)  
Loss Contract Reserve [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance, value     $ (1,208,276)         $ (1,208,276)      
Net income (loss)       99,921 206,159 (190,035) (9,371)   $ 6,753    
Ending balance, value       (1,208,276)           (1,208,276)  
Inventory Reserve [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       (78,831) (69,157) (63,451) (219,466)        
Revision of Prior Period, Adjustment [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       $ (1,050,305) $ 24,556 $ (763,730) $ (544,836)     $ (2,334,315) $ (2,300,083)
Common Stock [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance (in shares) 12,267,930 11,985,152 11,951,271 11,926,177 11,855,606 11,837,218 11,818,830 11,951,271 11,818,830 11,818,830  
Beginning balance, value $ 12,268 $ 11,985 $ 11,951 $ 11,926 $ 11,856 $ 11,837 $ 11,819 $ 11,951 $ 11,819 $ 11,819  
Net income (loss)          
Stock based compensation (in shares) 33,881 323,977 33,881 25,094 70,571 18,388 18,388        
Stock-based compensation expense $ 34 $ 325 $ 34 $ 25 $ 70 $ 19 $ 18        
Ending balance (in shares) 12,301,811 12,267,930 11,985,152 11,951,271 11,926,177 11,855,606 11,837,218 12,301,811 11,926,177 11,951,271 11,818,830
Ending balance, value $ 12,302 $ 12,268 $ 11,985 $ 11,951 $ 11,926 $ 11,856 $ 11,837 $ 12,302 $ 11,926 $ 11,951 $ 11,819
Additional Paid-in Capital [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance, value 72,574,307 72,349,534 72,005,841 71,972,011 71,830,980 71,641,796 71,294,629 72,005,841 71,294,629 71,294,629  
Net income (loss)          
Stock-based compensation expense 154,615 224,773 343,693 33,830 141,031 189,184 347,167        
Ending balance, value 72,728,922 72,574,307 72,349,534 72,005,841 71,972,011 71,830,980 71,641,796 72,728,922 71,972,011 72,005,841 71,294,629
Retained Earnings [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Beginning balance, value (83,145,830) (83,768,981) (85,001,524) (85,224,922) (86,064,687) (84,704,126) (81,346,771) (85,001,524) (81,346,771) (81,346,771)  
Net income (loss) 5,425,255 623,151 1,232,543 223,398 839,765 (1,360,561) (3,357,355)        
Stock-based compensation expense          
Ending balance, value $ (77,720,575) $ (83,145,830) $ (83,768,981) (85,001,524) (85,224,922) (86,064,687) (84,704,126) $ (77,720,575) $ (85,224,922) $ (85,001,524) $ (81,346,771)
Retained Earnings [Member] | Previously Reported [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       1,273,703 815,209 (596,831) (2,812,519)        
Retained Earnings [Member] | Inventory Costing Errors [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       (1,071,395) (112,446) (510,244) (315,999)        
Retained Earnings [Member] | Loss Contract Reserve [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       99,921 206,159 (190,035) (9,371)        
Retained Earnings [Member] | Inventory Reserve [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       (78,831) (69,157) (63,451) (219,466)        
Retained Earnings [Member] | Revision of Prior Period, Adjustment [Member]                      
New Accounting Pronouncements or Change in Accounting Principle [Line Items]                      
Net income (loss)       $ (1,050,305) $ 24,556 $ (763,730) $ (544,836)