Schedule of Accrued Liabilities (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 2,044,826	$ 1,421,150
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	157,615	141,697
Accrued taxes	172,744	206,232
Accrued professional services	138,359	383,342
Other	343,043	340,321
Total accrued liabilities	3,340,466	2,976,621
Less: Long term accrued liabilities	(131,231)	(255,517)
Total current accrued liabilities	$ 3,209,235	$ 2,721,104