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Intangible Assets (Tables)
6 Months Ended
Jun. 30, 2021
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of intangible assets
   June 30,   December 31, 
   2021   2020 
Gross carrying amount  $5,225,716   $5,173,818 
Accumulated amortization   (5,060,774)   (4,991,672)
Net carrying amount  $164,942   $182,146