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STOCK BASED COMPENSATION (Tables)
3 Months Ended
Mar. 31, 2024
Share-Based Payment Arrangement [Abstract]  
Schedule of share-based compensation
          
         
   For the Three   For the Three 
   Months Ending   Months Ending 
   March 31, 2024   March 31, 2023 
         
2007 Employee Stock Option Plan  $   $ 
2016 Equity Incentive Plan   626,512    1,795,842 
2016 Equity Incentive Plan restricted stock awards   64,199    73,498 
Warrants        
           
     Total share-based compensation  $690,711   $1,869,340 
Schedule of stock option and warrant activity
              
     Non-Qualified Stock Options and Warrants Outstanding and Exercisable 
                 
     Number of    Exercise    Weighted Average 
     Shares    Price    Exercise Price 
                 
Outstanding, December 31, 2023    8,809,807     $0.51 - $16.81    $2.76 
                 
Granted    106,000     $3.99 - $4.60    $4.20 
Expired             
Forfeited             
Exercised    (314,000)    $0.57 - $1.15    $0.62 
                 
Outstanding, March 31, 2024    8,601,807     $0.51 - $16.81    $2.86 
                 
Exercisable, March 31, 2024    7,795,841     $0.51 - $16.81    $2.63 
Schedule of non-qualified stock options and warrants outstanding
             
Non-Qualified Stock Options and Warrants Outstanding 
 Range of
Exercise Prices
   Number Outstanding
Currently Exercisable
at March 31, 2024
    Weighted Average
Remaining
Contractual Life
    Weighted Average
Exercise Price of Options and
Warrants Currently Exercisable
 
                
 $0.51 - $16.81   7,795,841    5.3 Years   $2.63 
Schedule of fair value of restricted stock awards
         
         Weighted Average 
    Number of    Grant Date Fair 
    Shares    Value per Share 
           
Non-vested, beginning of period   78,452   $5.71 
           
Granted        
Vested   (8,943)   5.33 
Cancelled and forfeited        
           
Non-vested, end of period   69,509   $5.76