Schedule of Accrued Liabilities (Details) - USD ($)	Sep. 30, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 1,399,703	$ 2,044,826
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	267,647	157,615
Accrued taxes	195,529	172,744
Accrued professional services	121,305	138,359
Other	310,188	343,043
Total accrued liabilities	2,778,251	3,340,466
Less: Long term accrued liabilities	(215,861)	(131,231)
Total current accrued liabilities	$ 2,562,390	$ 3,209,235

Accrued licenses and maintenance fees

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Carrying amount as of the balance sheet date of the unpaid sum of the known and estimated amounts payable to satisfy all domestic and foreign income tax obligations due. This amount is the total of current and noncurrent accrued income taxes.

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Carrying value as of the balance sheet date of obligations incurred and payable, pertaining to costs that are statutory in nature, are incurred on contractual obligations, or accumulate over time and for which invoices have not yet been received or will not be rendered. Examples include taxes, interest, rent and utilities. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer).

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Carrying value as of the balance sheet date of obligations incurred through that date and payable for professional fees, such as for legal and accounting services received.

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Total of the carrying values as of the balance sheet date of obligations incurred through that date and payable for obligations related to services received from employees, such as accrued salaries and bonuses, payroll taxes and fringe benefits.

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Amount of expenses incurred but not yet paid classified as other.

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Carrying value as of the balance sheet date of obligations incurred through that date and payable for estimated claims under standard and extended warranty protection rights granted to customers.

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