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] Treasury Stock [Member]	Consultant [Member]	Board of Directors [Member] Common Stock [Member]	Board of Directors [Member] Additional Paid-in Capital [Member]	Board of Directors [Member] Retained Earnings [Member]	Board of Directors [Member] Noncontrolling Interest [Member]	Board of Directors [Member] Treasury Stock [Member]	Board of Directors [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, 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													0	113,507	0	0	0	113,507
Common stock to be issued to employees for bonuses													0	100,000	0	0	0	100,000
Net loss													$ 0	0	(972,869)	(12,988)	0	(985,857)
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	0	0	0	0	7
Common stock issued for services (in shares)	40,010
Common stock to be issued for payment of consulting services expensed in prior periods	$ 40	$ 0	$ 0	$ 0	$ 0	$ 40	$ 18	$ 0
Common stock to be issued for services (in shares)							18,879
Common stock to be issued for services									$ 0	$ 0	$ 0	$ 18
Common stock issued to employee for stock options exercised (in shares)													435,558
Common stock issued to employee for stock options exercised													$ 436	689,754				690,190
Common stock issued for warrants exercised (in shares)													1,918,925
Common stock issued for warrants exercised													$ 1,919	3,010,297	0	0	0	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
Balance (in shares) at Dec. 31, 2021													68,153,336
Balance at Dec. 31, 2021													$ 68,153	124,915,560	(107,704,274)	(152,541)	(911,516)	16,215,382
Stock based compensation													0	305,370	0	0	0	305,370
Common stock to be issued to employees for bonuses													0	164,385	0	0	0	164,385
Net loss													$ 0	0	(1,901,723)	(17,502)	0	(1,919,225)
Balance (in shares) at Mar. 31, 2022													68,153,336
Balance at Mar. 31, 2022													$ 68,153	$ 125,385,315	$ (109,605,997)	$ (170,043)	$ (911,516)	$ 14,765,912