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Goodwill and intangible assets - Intangible assets (Details) - USD ($)
3 Months Ended 9 Months Ended 21 Months Ended
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Sep. 30, 2016
Sep. 30, 2017
Dec. 31, 2016
Intangible assets            
Gross book value $ 3,813,755   $ 3,813,755   $ 3,813,755 $ 3,508,116
Accumulated amortization (3,208,098)   (3,208,098)   (3,208,098) (2,680,642)
Net book value 605,657   605,657   605,657 827,474
Amortization expense 21,104 $ 143,692 246,295 $ 431,710    
Trademarks and patents            
Intangible assets            
Gross book value 1,226,007   1,226,007   1,226,007 1,203,097
Accumulated amortization (620,350)   (620,350)   (620,350) (557,794)
Net book value 605,657   605,657   $ 605,657 645,303
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 2,587,748   2,587,748   $ 2,587,748 2,305,019
Accumulated amortization $ (2,587,748)   $ (2,587,748)   $ (2,587,748) (2,122,848)
Net book value           $ 182,171
Amortization period         5 years