Revenue (Details) - USD ($)	3 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Jun. 30, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue	$ 7,545,432	$ 7,265,515
ASC 606 [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Contract liabilities	3,094,985		$ 3,077,605
ASC 606 [Member] | Units Delivered [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue	6,492,236	5,858,706
ASC 606 [Member] | Milestones Achieved [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue	1,053,196	$ 1,406,809
ASC 606 [Member] | Backlog [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Intangible assets	$ 75,200,000
Percentage of estimated shipments	40.5% in 2022; 34.6% in 2023; 19.5% in 2024, and 5.4% thereafter.