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Intangible Assets (Details Narrative) - USD ($)
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Goodwill and Intangible Assets Disclosure [Abstract]    
Patent costs $ 768,138 $ 764,891
Trademarks costs 119,911 108,632
Accumulated amortization on patents and trademarks $ 457,833 394,020
Expiration date of patents Dec. 31, 2025  
Amortization of intangible assets $ 63,813 $ 63,610