Also, one way this may be possible with Escrow.com is if you use the "Domain Holding Service". That will cost at least $150 extra, but they may let your buyer make multiple payments of up to $5000, to reach the overall $19000 total. But to pay by credit card, it looks like they charge 3.05% extra.
However, even if you have to cover the extra fees yourself, it would be worth it as a safety measure. Escrow.com may be okay with it, because they can maintain control of the domain until they are satisfied with the buyer's payment.
But instead of Escrow.com, I suggest you contact Epik.com (as someone else mentioned above). I think Epik can do anything Escrow.com can, plus they are the registrar themselves, so I think they probably have ways to ensure the safety of the payment in this type of situation (like by maintaining control of the domain... I don't actually know, but am just guessing).