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Intangible Assets (Tables)
3 Months Ended
Mar. 31, 2021
Goodwill and Intangible Assets Disclosure [Abstract]  
Schedule of intangible assets
   March 31,   December 31, 
   2021   2020 
Gross carrying amount  $5,137,286   $5,173,818 
Accumulated amortization   (4,965,780)   (4,991,672)
Net carrying amount  $171,506   $182,146