Revenue (Details) - USD ($)	3 Months Ended		6 Months Ended
	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2021	Dec. 31, 2020	Jun. 30, 2021
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue	$ 7,458,050	$ 6,962,065	$ 15,003,482	$ 14,227,580
ASC 606 [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Contract liabilities	2,904,746		2,904,746		$ 3,077,605
ASC 606 [Member] | Units Delivered [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue	6,100,228	5,865,878	12,592,464	11,724,584
ASC 606 [Member] | Milestones Achieved [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Revenue	1,357,822	$ 1,096,187	2,411,018	$ 2,502,996
ASC 606 [Member] | Backlog [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Intangible assets	$ 70,100,000		$ 70,100,000
Percentage of estimated shipments			30% in 2022; 43% in 2023; 21% in 2024, and 6% thereafter