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Revision and Correction of an Immaterial Error in Previously Issued Financial Statements (Details 2) - USD ($)	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Patents and trademarks, net	$ 85,562	$ 1,144,888
Total Assets	21,789,687	19,551,248
Accumulated deficit	(129,155,608)	(114,738,342)
Total Stockholders' Equity	$ 17,207,557	19,200,949	$ 25,304,422
As Previously Reported [Member]
Patents and trademarks, net		1,798,484
Total Assets		20,204,844
Accumulated deficit		(114,084,746)
Total Stockholders' Equity		19,854,545
Adjustment [Member]
Patents and trademarks, net		(653,596)
Total Assets		(653,596)
Accumulated deficit		(653,596)
Total Stockholders' Equity		(653,596)
As Revised [Member]
Patents and trademarks, net		1,144,888
Total Assets		19,551,248
Accumulated deficit		(114,738,342)
Total Stockholders' Equity		$ 19,200,949

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