Condensed Consolidated Statements of Changes in Stockholders' Equity (Unaudited) - USD ($)	Consultant [Member] Common Stock [Member]	Consultant [Member] Additional Paid-in Capital [Member]	Consultant [Member] Retained Earnings [Member]	Consultant [Member] Noncontrolling Interest [Member]	Consultant [Member]	Common Stock [Member]	Additional Paid-in Capital [Member]	Retained Earnings [Member]	Noncontrolling Interest [Member]	Treasury Stock [Member]	Total
Balance (in shares) at Dec. 31, 2019						49,410,176
Balance at Dec. 31, 2019						$ 49,410	$ 96,082,324	$ (93,524,297)	$ (67,274)	$ (911,516)	$ 1,628,647
Stock based compensation							30,715				30,715
Common stock issued to employee for compensation expensed in prior periods (in shares)						21,317
Common stock to be issued for payment of consulting services expensed in prior periods (in shares)						1,316
Common stock issued to board of directors for services expensed in prior periods (in shares)		25,000			25,000
Common stock to be issued to employees for bonuses							171,046				171,046
Common stock issued for warrants exercised (in shares)						460,725
Common stock issued for warrants exercised						$ 460	229,902				230,362
Net loss								(1,600,215)	(12,738)		(1,612,953)
Common stock to be issued to employee for compensation						23	14,989				15,012
Common stock issued for warrants						$ 460	229,902				230,362
Balance (in shares) at Mar. 31, 2020						49,893,534
Balance at Mar. 31, 2020						$ 49,893	96,553,976	(95,124,512)	(80,012)	(911,516)	487,829
Balance (in shares) at Dec. 31, 2020						64,171,435
Balance at Dec. 31, 2020						$ 64,171	117,934,696	(100,885,957)	(94,426)	(911,516)	16,106,968
Stock based compensation							113,507				113,507
Common stock issued to employee for compensation expensed in prior periods (in shares)						7,075
Common stock issued to employee for compensation expensed in prior periods						$ 7					7
Common stock to be issued for payment of consulting services expensed in prior periods (in shares)						40,010
Common stock to be issued for payment of consulting services expensed in prior periods						$ 40					40
Common stock issued to board of directors for services expensed in prior periods (in shares)						18,879
Common stock issued to board of directors for services expensed in prior periods						$ 18					18
Number of options exercised (in shares)						435,558
Common stock issued to employee for stock options exercised						$ 436	689,754				690,190
Common stock to be issued to employees for bonuses							100,000				100,000
Common stock issued for warrants exercised (in shares)						1,918,925
Common stock issued for warrants exercised						$ 1,919	3,010,297				3,012,216
Net loss								(972,869)	(12,988)		(985,857)
Common stock issued for warrants						$ 1,919	3,010,297				3,012,216
Balance (in shares) at Mar. 31, 2021						66,591,882
Balance at Mar. 31, 2021						$ 66,591	$ 121,848,254	$ (101,858,826)	$ (107,414)	$ (911,516)	$ 19,037,089