Income Taxes, Federal Net Operating Loss Carryforwards Available to Future Years (Details) - USD ($)	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Operating Loss Carryforwards [Abstract]
Change in valuation allowance	$ 2,012,112	$ 1,337,524
Net operating loss carry forwards	78,264,967
Research and experimentation tax credits	3,190,604	2,952,047
2024
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	430,332
2025
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	865,274
2026
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	1,213,130
2027
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	2,082,043
2028
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	2,536,605
2029
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	2,235,045
2030
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	4,132,949
2031
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	3,160,709
2032
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	3,533,521
2033
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	2,987,848
2034
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	2,516,728
2035
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	4,777,558
2036
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	4,503,474
2037
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	6,869,819
Indefinitely [Member]
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	36,419,932
Federal [Member]
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	78,264,967	69,762,635
Research and experimentation tax credits	2,407,689	2,169,132
State [Member]
Operating Loss Carryforwards [Abstract]
Net operating loss carry forwards	$ 7,774,956	$ 5,962,200