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Goodwill and intangible assets - Intangible assets (Details) - USD ($)
3 Months Ended 9 Months Ended 21 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Dec. 31, 2015
Intangible assets            
Gross book value $ 3,658,072   $ 3,658,072   $ 3,658,072 $ 3,573,464
Accumulated amortization (2,676,793)   (2,676,793)   (2,676,793) (2,195,200)
Net book value 981,279   981,279   981,279 1,378,264
Amortization expense 143,692 $ 143,599 431,710 $ 431,388    
Trademarks and patents            
Intangible assets            
Gross book value 1,202,666   1,202,666   1,202,666 1,184,612
Accumulated amortization (538,214)   (538,214)   (538,214) (472,914)
Net book value 664,452   664,452   $ 664,452 711,698
Trademarks and patents | Minimum            
Intangible assets            
Amortization period         15 years  
Trademarks and patents | Maximum            
Intangible assets            
Amortization period         21 years  
Technology            
Intangible assets            
Gross book value 2,455,406   2,455,406   $ 2,455,406 2,388,852
Accumulated amortization (2,138,579)   (2,138,579)   (2,138,579) (1,722,286)
Net book value $ 316,827   $ 316,827   $ 316,827 $ 666,566
Amortization period         5 years