Consolidated Statements of Changes in Stockholders' Equity - 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	790,915	0	0		790,915
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)	0	0	0	0
Common stock to be issued for payment of services expensed in prior periods (in shares)	40,010						18,879
Common stock to be issued for payment of services expensed in prior periods	$ 40	$ (40)	$ 0	$ 0	$ 0	$ 0	$ 19	$ (19)	$ 0	$ 0	$ 0	$ 0
Common stock to be issued to employees for bonuses														100,000				100,000
Common stock issued to employee for stock options exercised (in shares)													826,499
Common stock issued to employee for stock options exercised													$ 826	1,381,060	0	0	0	1,381,886
Common stock issued to employee for compensation (in shares)													18,345
Common stock issued for compensation													$ 18	107,482	0			107,500
Common stock issued for services (in shares)	289,661						277,767
Common stock issued for services	$ 290	770,044	0			770,334	$ 278	617,889	0			618,167
Common stock issued to employee for bonus expensed in prior periods (in shares)													402,490
Common stock issued to employee for bonus expensed in prior periods													$ 402	(402)	0	0	0	0
Common stock issued for warrants exercised (in shares)													2,101,175
Common stock issued for warrants exercised													$ 2,102	3,213,942	0	0	0	3,216,044
Net loss															(6,818,317)	(58,115)		(6,876,432)
Common stock issued to employee for compensation (in shares)													18,345
Common stock issued to employees for bonuses (in shares)													402,490
Common stock issued to employees for bonuses													$ 402	(402)	0	0	0	0
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														1,499,302				1,499,302
Common stock to be issued to employees for bonuses													$ 0	264,385				264,385
Common stock issued to employee for compensation (in shares)													30,196
Common stock issued for compensation													$ 30	39,973	0	0	0	40,003
Common stock issued for services (in shares)	577,074						398,553
Common stock issued for services	$ 577	$ 746,774	$ 0	$ 0	$ 0	$ 747,351	$ 399	$ 12,478	$ 0	$ 0	$ 0	$ 12,877
Common stock issued to employee for bonus expensed in prior periods (in shares)													147,338
Common stock issued to employee for bonus expensed in prior periods													$ 147	(147)				0
Net loss															(8,706,131)	(66,735)		(8,772,866)
Common stock issued to employee for compensation (in shares)													30,196
Common stock issued to employees for bonuses (in shares)													147,338
Common stock issued to employees for bonuses													$ 147	(147)				0
Balance (in shares) at Dec. 31, 2022													69,306,497
Balance at Dec. 31, 2022													$ 69,306	$ 127,478,325	$ (116,410,405)	$ (219,276)	$ (911,516)	$ 10,006,434