Summary of Contract Assets and Liabilities (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Product Information [Line Items]
Contract Assets - unbilled receivables	$ 284,415	$ 168,445
Total deferred revenue	5,831,685	5,646,713
Less: Long-term deferred revenue	(548,915)	(554,258)
Total current deferred revenue	5,282,770	5,092,455
Product Shipped, Revenue Deferred [Member]
Product Information [Line Items]
Total deferred revenue	645,200	674,324
Deferred Service and License Fees [Member]
Product Information [Line Items]
Total deferred revenue	$ 5,186,485	$ 4,972,389