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Commitments and Contingencies (Details Narrative) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Commitments and Contingencies          
Royalty expense $ 69,437 $ 61,468 $ 131,567 $ 125,618  
Accrued royalties payable $ 348,734   $ 348,734   $ 434,981