Condensed Consolidated Statements of Stockholders' Equity - USD ($)	Total	Common Stock	Additional Paid In Capital	Accumulated Deficit	Accumulated Other Comprehensive Loss
Beginning balance (in shares) at Dec. 31, 2019		4,186,438
Beginning balance at Dec. 31, 2019	$ 34,416,026	$ 4,187	$ 97,239,455	$ (62,827,616)	$ 0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)		12,157
Exercise of stock options	90,000	$ 12	89,988
Exercise of warrants (in shares)		59,510
Exercise of warrants	595,101	$ 60	595,041
Stock based compensation	686,599		686,599
Net income (loss)	(1,684,643)			(1,684,643)
Foreign currency translation adjustment	(293,491)				(293,491)
Ending balance (in shares) at Mar. 31, 2020		4,258,105
Ending balance at Mar. 31, 2020	33,809,592	$ 4,259	98,611,083	(64,512,259)	(293,491)
Beginning balance (in shares) at Dec. 31, 2019		4,186,438
Beginning balance at Dec. 31, 2019	34,416,026	$ 4,187	97,239,455	(62,827,616)	0
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Net income (loss)	(1,175,874)
Foreign currency translation adjustment	(114,644)
Ending balance (in shares) at Sep. 30, 2020		4,258,105
Ending balance at Sep. 30, 2020	35,541,117	$ 4,259	99,654,992	(64,003,490)	(114,644)
Beginning balance (in shares) at Mar. 31, 2020		4,258,105
Beginning balance at Mar. 31, 2020	33,809,592	$ 4,259	98,611,083	(64,512,259)	(293,491)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock based compensation	720,100		720,100
Net income (loss)	(216,205)			(216,205)
Foreign currency translation adjustment	(17,229)				(17,229)
Ending balance (in shares) at Jun. 30, 2020		4,258,105
Ending balance at Jun. 30, 2020	34,296,258	$ 4,259	99,331,183	(64,728,464)	(310,720)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Stock based compensation	323,809		323,809
Net income (loss)	724,974			724,974
Foreign currency translation adjustment	196,076				196,076
Ending balance (in shares) at Sep. 30, 2020		4,258,105
Ending balance at Sep. 30, 2020	35,541,117	$ 4,259	99,654,992	(64,003,490)	(114,644)
Beginning balance (in shares) at Dec. 31, 2020		4,258,105
Beginning balance at Dec. 31, 2020	35,492,242	$ 4,259	100,203,979	(64,689,065)	(26,931)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)		65,962
Exercise of stock options	579,619	$ 66	579,553
Restricted stock issued (in shares)		6,527
Restricted stock issued	0	$ 6	(6)
Stock based compensation	745,620		745,620
Net income (loss)	(2,844,230)			(2,844,230)
Foreign currency translation adjustment	12,501				12,501
Ending balance (in shares) at Mar. 31, 2021		4,330,594
Ending balance at Mar. 31, 2021	33,985,752	$ 4,331	101,529,146	(67,533,295)	(14,430)
Beginning balance (in shares) at Dec. 31, 2020		4,258,105
Beginning balance at Dec. 31, 2020	$ 35,492,242	$ 4,259	100,203,979	(64,689,065)	(26,931)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)	0
Net income (loss)	$ 2,256,460
Foreign currency translation adjustment	81
Ending balance (in shares) at Sep. 30, 2021		4,618,221
Ending balance at Sep. 30, 2021	42,005,357	$ 4,618	104,460,194	(62,432,605)	(26,850)
Beginning balance (in shares) at Mar. 31, 2021		4,330,594
Beginning balance at Mar. 31, 2021	33,985,752	$ 4,331	101,529,146	(67,533,295)	(14,430)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)		5,630
Exercise of stock options	36,605	$ 6	36,599
Restricted stock issued (in shares)		13,375
Restricted stock issued	0	$ 13	(13)
Stock based compensation	654,562		654,562
Net income (loss)	1,683,591			1,683,591
Foreign currency translation adjustment	(4,446)				(4,446)
Ending balance (in shares) at Jun. 30, 2021		4,349,599
Ending balance at Jun. 30, 2021	36,356,064	$ 4,350	102,220,294	(65,849,704)	(18,876)
Increase (Decrease) in Stockholders' Equity [Roll Forward]
Exercise of stock options (in shares)		268,622
Exercise of stock options	1,545,834	$ 268	1,545,566
Stock based compensation	694,334		694,334
Net income (loss)	3,417,099			3,417,099
Foreign currency translation adjustment	(7,974)				(7,974)
Ending balance (in shares) at Sep. 30, 2021		4,618,221
Ending balance at Sep. 30, 2021	$ 42,005,357	$ 4,618	$ 104,460,194	$ (62,432,605)	$ (26,850)