Foreword: I am surprised because I may (I must...) have read this question several times before tonite but only now I thought about adding one definition, not yet mentioned in this thread, that may hopefully be pertinent and interesting as well among the others.
In associative structures, the inverse element is defined after the identity element. In a generic (non associative) groupoid, an inverse property can be defined without identity element instead.
A groupoid or quasigroup $G$ has the left inverse property if
$$
\forall x\in G, \exists\ z\in G : z(xy)=y\ \forall y\in G\tag{1}
$$
and has the right inverse property if
$$
\forall x\in G, \exists\ t\in G : (yx)t=y\ \forall y\in G.\tag{2}
$$
$G$ is also said to have the inverse property if it satisfies both the above equations.
If $z$ as in $(1)$ exists and the groupoid $G$ is a quasigroup, such $z$ is also unique because in a quasigroup the equation $z(xy)=y$ has a unique solution $z$ given $x,y$: therefore we can denote $z$ with $x_l^{-1}$.
If $t$ as in $(2)$ exists and the groupoid $G$ is a quasigroup, such $t$ is also unique because in a quasigroup the equation $(yx)t=y$ has a unique solution $t$ given $x,y$: therefore we can denote $t$ with $x_r^{-1}$.
Let now $G$ be a loop with identity element $e$. Then:
$$
\forall x\in G, \exists\,!\,x_l\in G : x_l\,x = e
$$
and
$$
\forall x\in G, \exists\,!\,x_r\in G : x\,x_r = e.
$$
The (existence and) uniqueness of $x_l$ and $x_r$ is again due to the fact that the loop is a quasigroup and hence all linear equations have a unique solution in here. We can call $x_l$ and $x_r$ left inverse of $x$ and right inverse of $x$ respectively.
But beware: in the absence of associativity, the only existence of $x_l$ and $x_r$ does not imply $(1)$ and $(2)$ to be verified, indeed not all the loops have the inverse property.
(Source)