Schedule of Accrued Liabilities (Details) - USD ($)	Mar. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 1,348,077	$ 2,044,826
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	188,591	157,615
Accrued taxes	195,577	172,744
Accrued professional services	223,298	138,359
Other	348,972	343,043
Total accrued liabilities	2,788,394	3,340,466
Less: Long term accrued liabilities	(210,096)	(131,231)
Total current accrued liabilities	$ 2,578,298	$ 3,209,235