| Schedule of Finite-Lived Intangible Assets | Intangible assets and liabilities at December 31, 2020 and 2019 consist of the following: 
 
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|  |  | December 31, 2020 |  | December 31, 2019 |  
| Intangible assets |  | Cost |  | Accumulated Amortization |  | Net |  | Cost |  | Accumulated Amortization |  | Net |  
| Product certifications |  | $ | 726,159 |  |  | $ | (478,357) |  |  | $ | 247,802 |  |  | $ | 726,159 |  |  | $ | (399,906) |  |  | $ | 326,253 |  |  
| Patents |  | 855,014 |  |  | (220,764) |  |  | 634,250 |  |  | 1,017,108 |  |  | (206,499) |  |  | 810,609 |  |  
| Developed technology |  | 240,000 |  |  | (124,000) |  |  | 116,000 |  |  | 240,000 |  |  | (108,000) |  |  | 132,000 |  |  
| Trademarks |  | 26,896 |  |  | — |  |  | 26,896 |  |  | 26,896 |  |  | — |  |  | 26,896 |  |  
| In process R&D |  | 263,936 |  |  | — |  |  | 263,936 |  |  | 263,936 |  |  | — |  |  | 263,936 |  |  
| Favorable contract assets |  | 384,465 |  |  | (313,031) |  |  | 71,434 |  |  | 304,465 |  |  | (270,378) |  |  | 34,087 |  |  
|  |  | $ | 2,496,470 |  |  | $ | (1,136,152) |  |  | $ | 1,360,318 |  |  | $ | 2,578,564 |  |  | $ | (984,783) |  |  | $ | 1,593,781 |  |  
|  |  |  |  |  |  |  |  |  |  |  |  |  |  
| Intangible liability |  |  |  |  |  |  |  |  |  |  |  |  |  
| Unfavorable contract liability |  | $ | 2,534,818 |  |  | $ | (917,767) |  |  | $ | 1,617,051 |  |  | $ | 4,689,025 |  |  | $ | (2,154,207) |  |  | $ | 2,534,818 |  |  | 
| Schedule of Estimated Future Amortization Expense | Aggregate future amortization over the next five years is estimated to be as follows: 
|  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  
|  |  | Non-contract related intangibles |  | Contract related intangibles |  | Total |  
| 2021 |  | $ | 185,341 |  |  | $ | (317,275) |  |  | $ | (131,934) |  |  
| 2022 |  | 178,264 |  |  | (320,008) |  |  | (141,744) |  |  
| 2023 |  | 171,191 |  |  | (253,372) |  |  | (82,181) |  |  
| 2024 |  | 150,054 |  |  | (208,448) |  |  | (58,394) |  |  
| 2025 |  | 141,109 |  |  | (130,116) |  |  | 10,993 |  |  
| Thereafter |  | 455,459 |  |  | (335,828) |  |  | 119,631 |  |  
|  |  | $ | 1,281,418 |  |  | $ | (1,565,047) |  |  | $ | (283,629) |  |  |