Annual report pursuant to Section 13 and 15(d)

Intangible assets and liabilities other than goodwill - Narrative (Details)

v3.20.4
Intangible assets and liabilities other than goodwill - Narrative (Details) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Acquired Finite-Lived Intangible Assets [Line Items]    
Amortization expense $ 113,723 $ 92,209
Net credit to cost of sales related to the amortization of contract related assets and liabilities 400,404 502,729
Long-lived asset impairment 205,345  
Reversal of unfavorable contract liability (251,906) 0
Long-lived Asset Impairment    
Acquired Finite-Lived Intangible Assets [Line Items]    
Reversal of unfavorable contract liability 478,411  
Patents    
Acquired Finite-Lived Intangible Assets [Line Items]    
Capitalized finited lived intangible assets $ 43,252 106,539
Patents | Minimum    
Acquired Finite-Lived Intangible Assets [Line Items]    
Finited lived intangible assets, estimated useful life 7 years  
Patents | Maximum    
Acquired Finite-Lived Intangible Assets [Line Items]    
Finited lived intangible assets, estimated useful life 10 years  
Favorable contract assets    
Acquired Finite-Lived Intangible Assets [Line Items]    
Capitalized finited lived intangible assets $ 80,000 0
Trademarks    
Acquired Finite-Lived Intangible Assets [Line Items]    
Capitalized finited lived intangible assets $ 0 $ 4,144