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REVENUE FROM CONTRACTS WITH CUSTOMERS (Details Narrative) - USD ($)
 9 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Dec. 31, 2021
Disaggregation of Revenue [Line Items]      
Revenue, remaining amount $ 11,528,759 $ 9,551,446 $ 20,280,934
Deferred revenue due 5,700,000    
Contract with customer liability $ 5,800,000    
Maximum [Member]      
Disaggregation of Revenue [Line Items]      
Deferred expected term 60 months    
UNITED STATES      
Disaggregation of Revenue [Line Items]      
Deferred expected term 12 months    
Next 12 To 60 Months [Member]      
Disaggregation of Revenue [Line Items]      
Long term deferred revenue $ 5,700,000    
DLC [Member]      
Disaggregation of Revenue [Line Items]      
Revenue, remaining amount 2,100,000    
Deferred revenue due $ 5,700,000    
Deferred expected term 12 months    
ARK II [Member]      
Disaggregation of Revenue [Line Items]      
Revenue, remaining amount $ 3,600,000    
Deferred expected term 24 months