Consolidated Statement of Changes in Stockholders' Equity (Unaudited) - USD ($)	Public Stock Offering [Member] Common Stock [Member]	Public Stock Offering [Member] Additional Paid-in Capital [Member]	Public Stock Offering [Member]	Private Placement [Member] Common Stock [Member]	Private Placement [Member] Additional Paid-in Capital [Member]	Private Placement [Member]	Common Stock [Member]	Additional Paid-in Capital [Member]	Treasury Stock [Member]	Deferred Compensation, Share-based Payments [Member]	Retained Earnings [Member]	Total
Balance (in shares) at Dec. 31, 2019							18,224,577
Balance at Dec. 31, 2019							$ 186,656	$ 77,055,273	$ (1,885,452)	$ (5,636,154)	$ (62,151,988)	$ 7,568,335
Issuance of common stock under equity incentive plan (in shares)							51,000
Issuance of common stock under equity incentive plan							$ 51	59,440				59,491
Warrant compensation costs								8,985				8,985
Deferred compensation amortization										228,219		228,219
Purchase of treasury stock costs									(26,629)			(26,629)
Net income (loss) for the period											(835,009)	(835,009)
Balance at Mar. 31, 2020							$ 186,707	77,123,698	(1,912,081)	(5,407,935)	(62,986,997)	7,003,392
Balance (in shares) at Mar. 31, 2020							18,275,577
Balance (in shares) at Dec. 31, 2019							18,224,577
Balance at Dec. 31, 2019							$ 186,656	77,055,273	(1,885,452)	(5,636,154)	(62,151,988)	7,568,335
Net income (loss) for the period												(3,059,195)
Balance at Sep. 30, 2020							$ 194,318	88,392,782	(2,065,763)	(5,793,116)	(65,211,183)	15,517,038
Balance (in shares) at Sep. 30, 2020							25,887,785
Balance (in shares) at Mar. 31, 2020							18,275,577
Balance at Mar. 31, 2020							$ 186,707	77,123,698	(1,912,081)	(5,407,935)	(62,986,997)	7,003,392
Issuance of common stock under equity incentive plan (in shares)							1,500,544
Issuance of common stock under equity incentive plan							$ 1,500	1,641,304		(1,559,520)		83,284
Warrant compensation costs								8,988				8,988
Deferred compensation amortization										267,207		267,207
Purchase of treasury stock costs									(55,819)			(55,819)
Net income (loss) for the period											(1,288,169)	(1,288,169)
Balance at Jun. 30, 2020							$ 188,207	78,773,990	(1,967,900)	(6,700,248)	(64,275,166)	6,018,883
Balance (in shares) at Jun. 30, 2020							19,776,121
Issuance of common stock under equity incentive plan (in shares)							32,323
Issuance of common stock under equity incentive plan							$ 32	149,961				149,993
Warrant compensation costs								8,985				8,985
Cashless warrant exercise (in shares)							27,051
Cashless warrant exercise							$ 27	(27)
Reversal of deferred compensation amortization that did not vest (in shares)							(450,000)
Reversal of deferred compensation amortization that did not vest							$ (450)	(791,550)		594,900		(197,100)
Deferred compensation amortization										312,232		312,232
Purchase of treasury stock costs									(97,863)			(97,863)
Net income (loss) for the period											(936,017)	(936,017)
Balance at Sep. 30, 2020							$ 194,318	88,392,782	(2,065,763)	(5,793,116)	(65,211,183)	15,517,038
Issuance of common stock (in shares)	4,705,883			1,796,407
Issuance of common stock	$ 4,705	$ 7,253,220	$ 7,257,925	$ 1,797	$ 2,998,203	$ 3,000,000
Balance (in shares) at Sep. 30, 2020							25,887,785
Balance (in shares) at Dec. 31, 2020							26,260,776
Balance at Dec. 31, 2020							$ 194,692	89,659,433	(2,165,721)	(5,926,872)	(65,058,171)	16,703,361
Issuance of common stock under equity incentive plan (in shares)							51,000
Issuance of common stock under equity incentive plan							$ 51	120,484				120,535
Warrant compensation costs								8,985				8,985
Cashless warrant exercise (in shares)							19,795
Cashless warrant exercise							$ 19	(19)
Reversal of deferred compensation amortization that did not vest (in shares)							(17,111)
Reversal of deferred compensation amortization that did not vest							$ (17)	(48,599)		5,994		(42,622)
Deferred compensation amortization										249,801		249,801
Purchase of treasury stock costs									(49,454)			(49,454)
Net income (loss) for the period											(720,252)	(720,252)
Balance at Mar. 31, 2021							$ 194,745	89,740,284	(2,215,175)	(5,671,077)	(65,778,423)	16,270,354
Balance (in shares) at Mar. 31, 2021							26,314,460
Balance (in shares) at Dec. 31, 2020							26,260,776
Balance at Dec. 31, 2020							$ 194,692	89,659,433	(2,165,721)	(5,926,872)	(65,058,171)	16,703,361
Net income (loss) for the period												(360,535)
Balance at Sep. 30, 2021							$ 194,746	89,702,612	(2,364,071)	(4,954,584)	(65,418,706)	17,159,997
Balance (in shares) at Sep. 30, 2021							26,289,288
Balance (in shares) at Mar. 31, 2021							26,314,460
Balance at Mar. 31, 2021							$ 194,745	89,740,284	(2,215,175)	(5,671,077)	(65,778,423)	16,270,354
Issuance of common stock under equity incentive plan (in shares)							61,556
Issuance of common stock under equity incentive plan							$ 61	150,481				150,542
Warrant compensation costs								8,985				8,985
Reversal of deferred compensation amortization that did not vest (in shares)							(115,000)
Reversal of deferred compensation amortization that did not vest							$ (115)	(237,085)		158,096		(79,104)
Deferred compensation amortization										245,847		245,847
Purchase of treasury stock costs									(29,810)			(29,810)
Net income (loss) for the period											218,483	218,483
Balance at Jun. 30, 2021							$ 194,691	89,662,665	(2,244,985)	(5,267,134)	(65,559,940)	16,785,297
Balance (in shares) at Jun. 30, 2021							26,261,016
Issuance of common stock under equity incentive plan (in shares)							49,322
Issuance of common stock under equity incentive plan							$ 76	108,146				129,007
Warrant compensation costs								8,985				8,985
Cashless warrant exercise (in shares)							19,950
Cashless warrant exercise							$ 20	(20)
Reversal of deferred compensation amortization that did not vest (in shares)							(41,000)
Reversal of deferred compensation amortization that did not vest							$ (41)	(77,164)		52,434		(24,771)
Deferred compensation amortization										239,331		239,331
Purchase of treasury stock costs									(119,086)			(119,086)
Net income (loss) for the period											141,234	141,234
Balance at Sep. 30, 2021							$ 194,746	$ 89,702,612	$ (2,364,071)	$ (4,954,584)	$ (65,418,706)	$ 17,159,997
Balance (in shares) at Sep. 30, 2021							26,289,288