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Inventories (Details) - Inventories - USD ($)
Dec. 31, 2020
Dec. 31, 2019
Inventory [Line Items]    
Raw materials $ 1,124,000 $ 1,393,000
Work-in-progress 324,000 512,000
Finished goods 94,000 277,000
Total inventory $ 1,542,000 $ 2,182,000