Schedule of Accrued Liabilities (Details) - USD ($)	Jun. 30, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 1,424,592	$ 2,044,826
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	222,206	157,615
Accrued taxes	167,979	172,744
Accrued professional services	453,348	138,359
Other	312,071	343,043
Total accrued liabilities	3,064,075	3,340,466
Less: Long term accrued liabilities	(206,596)	(131,231)
Total current accrued liabilities	$ 2,857,479	$ 3,209,235