Schedule of Accrued Liabilities (Details) - USD ($)	Jun. 30, 2020	Dec. 31, 2019
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 1,311,427	$ 1,421,150
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	127,705	141,697
Accrued taxes	200,041	206,232
Accrued professional services	206,903	383,342
Other	327,187	340,321
Total accrued liabilities	2,657,142	2,976,621
Less: Long term accrued liabilities	(255,517)	(255,517)
Total current accrued liabilities	$ 2,401,625	$ 2,721,104