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Consolidated Balance Sheets (Parenthetical) - USD ($)
Dec. 31, 2019
Dec. 31, 2018
Allowance for doubtful accounts $ 2,145,599 $ 2,010,721
Preferred stock, par value $ 0.001 $ 0.001
Preferred stock, shares authorized 10,000,000 10,000,000
Preferred stock, shares issued 0 0
Treasury stock, Class A common stock shares 4,493,181 4,426,027
Class A Common Stock [Member]    
Common stock, par value $ 0.001 $ 0.001
Common stock, shares authorized 150,000,000 150,000,000
Common stock, shares issued 15,805,432 15,334,336
Common stock, shares outstanding 11,312,251 10,908,309
Class B Common Stock [Member]    
Common stock, par value $ 0.001 $ 0.001
Common stock, shares authorized 75,000,000 75,000,000
Common stock, shares issued 16,662,743 16,662,743
Common stock, shares outstanding 16,662,743 16,662,743