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Schedule of Changes in Contract Assets and Liabilities (Details) - USD ($)
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Offsetting Assets [Line Items]    
Deferred revenue, balance at beginning of period $ 1,194,649 $ 996,131
Deferred revenue, billings 984,117 684,140
Deferred revenue, recognized revenue (1,042,700) (734,459)
Deferred revenue, balance at end of period 1,136,066 945,812
Accounts Receivable [Member]    
Offsetting Assets [Line Items]    
Unbilled Accounts receivables, balance at beginning of period 444,782 523,522
Unbilled Accounts receivables, revenue recognized in advance of billings 700,869 466,310
Unbilled Accounts receivables, billings (671,665) (643,681)
Unbilled Accounts receivables, balance at end of period 473,986 346,151
Other Contract [Member]    
Offsetting Assets [Line Items]    
Unbilled Accounts receivables, balance at beginning of period 78,556 31,283
Unbilled Accounts receivables, revenue recognized in advance of billings 22,136 10,064
Unbilled Accounts receivables, billings (14,089) (9,225)
Unbilled Accounts receivables, balance at end of period $ 86,603 $ 32,122