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STOCKHOLDERS' EQUITY (Details - Schedule of options activity) - Share-Based Payment Arrangement, Option [Member] - USD ($) | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | ---
Sep. 30, 2022 | Sep. 30, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Outstanding at the beginning of the year |  | 926,266 | 431,266 | 451,898 |
Weighted average exercise price, Outstanding beginning balance |  | $ 5.74 | $ 4.98 | $ 5.06 |
[custom:SharebasedCompensationArrangementBySharebasedPaymentAwardOptionsOutstandingWeightedAverageRemainingContractualTerm1] |  | 3 years 3 months 18 days | 3 years 4 months 24 days |  |
Aggregate intrinsic value, Outstanding beginning balance |  | $ 0 | $ 0 |  |
Number of options, Granted |  | 353,117 | 685,000 | 20,000 |
Weighted average exercise price, Granted |  | $ 4.22 | $ 6.41 | $ 4.32 |
[custom:SharebasedCompensationArrangementBySharebasedPaymentAwardOptionsGrantedWeightedAverageRemainingContractualTerm2] |  | 4 years 6 months | 4 years | 4 years |
Number of options, Forfeited |  | (61,608) | (190,000) |  |
Weighted average exercise price, Forfeited |  | $ 4.48 | $ 6.41 | $ 14.00 |
Outstanding at the ending of the year | 926,266 | 1,217,775 | 926,266 | 431,266 | 451,898
Weighted average exercise price, Outstanding ending balance |  | $ 5.37 | $ 5.74 | $ 4.98 | $ 5.06
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term |  | 3 years | 3 years 3 months 18 days | 3 years 4 months 24 days | 4 years 2 months 12 days
Aggregate intrinsic value, Outstanding ending balance |  | $ 0 | $ 0 | $ 0 |
Exercisable at end of period |  | 581,325 | 404,599 | 312,310 |
Weighted average exercise price, Exercisable at end of period |  | $ 5.38 | $ 5.02 | $ 5.25 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term |  | 2 years 1 month 6 days | 3 years 3 months 18 days | 3 years 4 months 24 days |

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- Definition Line items represent financial concepts included in a table. 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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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