Summary of Contract Assets and Liabilities (Details) - USD ($)	Sep. 30, 2021	Dec. 31, 2020
Product Information [Line Items]
Contract with Customer, Asset, after Allowance for Credit Loss	$ 444,277	$ 284,415
Contract with Customer, Liability	8,481,537	5,831,685
Contract with Customer, Liability, Noncurrent	(1,793,298)	(548,915)
Contract with Customer, Liability, Current	6,688,239	5,282,770
Customer Deposits [Member]
Product Information [Line Items]
Contract with Customer, Liability	1,400,000
Product Shipped, Revenue Deferred [Member]
Product Information [Line Items]
Contract with Customer, Liability	1,348,458	645,200
Deferred Service and License Fees [Member]
Product Information [Line Items]
Contract with Customer, Liability	$ 5,733,079	$ 5,186,485