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Research and development expenses (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Research and development expenses        
Labor $ 4,092,829 $ 883,029 $ 5,704,755 $ 1,800,974
Materials 311,991 499,428 651,750 720,264
Research and development expenses $ 4,404,820 $ 1,382,457 $ 6,356,505 $ 2,521,238