Annual report pursuant to Section 13 and 15(d)

Accrued Expenses - Accrued Expenses Schedule (Details)

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Accrued Expenses - Accrued Expenses Schedule (Details) - USD ($)
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Accounts Payable and Accrued Liabilities, Current [Abstract]      
Accrued compensation $ 519,485 $ 616,029  
Warranty reserve 335,893 358,296 $ 143,364
Other 293,751 265,768  
Accrued expenses $ 1,149,129 $ 1,240,093