Schedule of Accrued Liabilities (Details) - USD ($)	Dec. 31, 2021	Dec. 31, 2020
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 1,515,553	$ 2,044,826
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	241,451	157,615
Accrued taxes	177,399	172,744
Accrued professional services	73,000	138,359
Accrued lease deposit payable	124,286	124,286
Other	131,203	218,757
Total accrued liabilities	2,746,771	3,340,466
Less: Long term accrued liabilities	(218,582)	(131,231)
Total current accrued liabilities	$ 2,528,189	$ 3,209,235