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Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)
Sep. 30, 2023
Dec. 31, 2022
Allowance for doubtful accounts $ 1,803,068 $ 1,876,751
Preferred stock, par value $ 0.001 $ 0.001
Preferred stock, shares authorized 10,000,000 10,000,000
Preferred stock, shares issued 0 0
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 17,025,209 16,763,227
Common stock, shares outstanding 13,303,369 13,113,659
Treasury stock, Class A common stock shares 3,721,840 3,649,568
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