Accounts Receivable (Details Textual) - USD ($)	Dec. 31, 2019	Dec. 31, 2018
Accounts Receivable (Textual)
Allowance for doubtful accounts	$ 198,623	$ 165,840
Accounts receivable	2,537,892	2,866,474
Contract liabilities	3,148,410	1,690,660
Trade Receivables [Member]
Accounts Receivable (Textual)
Allowance for doubtful accounts	42,623	104,040
Financed Contracts [Member]
Accounts Receivable (Textual)
Allowance for doubtful accounts	156,000	61,800
Accounts receivable	$ 3,340,487	$ 1,896,848

Amount, after allowance for credit loss, of right to consideration from customer for product sold and service rendered in normal course of business, classified as current.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
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Reference 3: http://www.xbrl.org/2003/role/disclosureRef
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