Amount of accumulated depreciation, depletion and amortization for physical assets used in the normal conduct of business to produce goods and services.

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The amount of expense recognized in the current period that reflects the allocation of the cost of tangible assets over the assets' useful lives. Includes production and non-production related depreciation.

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Amount before accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table.

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Amount after accumulated depreciation, depletion and amortization of physical assets used in the normal conduct of business to produce goods and services and not intended for resale. Examples include, but are not limited to, land, buildings, machinery and equipment, office equipment, and furniture and fixtures.

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Property and Equipment (Details) - USD ($)	3 Months Ended		9 Months Ended
Property and Equipment (Details) - USD ($)	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Property and equipment
Property and equipment, gross	$ 4,835,396		$ 4,835,396		$ 4,456,556
Accumulated depreciation	(2,725,019)		(2,725,019)		(2,336,408)
Total	2,110,377		2,110,377		2,120,148
Depreciation expense of property and equipment	131,541	$ 128,513	396,278	$ 382,766
Computer software and hardware
Property and equipment
Property and equipment, gross	793,272		793,272		705,811
Furniture and fixtures
Property and equipment
Property and equipment, gross	1,248,460		1,248,460		1,226,113
Leasehold improvements
Property and equipment
Property and equipment, gross	236,036		236,036		230,351
Machinery and equipment
Property and equipment
Property and equipment, gross	2,057,436		2,057,436		1,823,835
Tooling in-process
Property and equipment
Property and equipment, gross	$ 500,192		$ 500,192		$ 470,446