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Condensed Consolidated Statements of Changes in Stockholders' Equity (Unaudited) - USD ($) | Consultant [Member] Common Stock [Member] | Consultant [Member] Additional Paid-in Capital [Member] | Consultant [Member] Retained Earnings [Member] | Consultant [Member] Noncontrolling Interest [Member] | Consultant [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] | Noncontrolling Interest [Member] | Treasury Stock [Member] | Total
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  | 49,410,176 |  |  |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  | $ 49,410 | $ 96,082,324 | $ (93,524,297) | $ (67,274) | $ (911,516) | $ 1,628,647
Stock based compensation |  |  |  |  |  |  | 30,715 |  |  |  | 30,715
Common stock issued to employee for compensation expensed in prior periods (in shares) |  |  |  |  |  | 21,317 |  |  |  |  |
Common stock to be issued for payment of consulting services expensed in prior periods (in shares) |  |  |  |  |  | 1,316 |  |  |  |  |
Common stock issued to board of directors for services expensed in prior periods (in shares) |  | 25,000 |  |  | 25,000 |  |  |  |  |  |
Common stock to be issued to employees for bonuses |  |  |  |  |  |  | 171,046 |  |  |  | 171,046
Common stock issued for warrants exercised (in shares) |  |  |  |  |  | 460,725 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  | $ 460 | 229,902 |  |  |  | 230,362
Net loss |  |  |  |  |  |  |  | (1,600,215) | (12,738) |  | (1,612,953)
Common stock to be issued to employee for compensation |  |  |  |  |  | 23 | 14,989 |  |  |  | 15,012
Common stock issued for warrants |  |  |  |  |  | $ 460 | 229,902 |  |  |  | 230,362
Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  | 49,893,534 |  |  |  |  |
Balance at Mar. 31, 2020 |  |  |  |  |  | $ 49,893 | 96,553,976 | (95,124,512) | (80,012) | (911,516) | 487,829
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  | 64,171,435 |  |  |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  | $ 64,171 | 117,934,696 | (100,885,957) | (94,426) | (911,516) | 16,106,968
Stock based compensation |  |  |  |  |  |  | 113,507 |  |  |  | 113,507
Common stock issued to employee for compensation expensed in prior periods (in shares) |  |  |  |  |  | 7,075 |  |  |  |  |
Common stock issued to employee for compensation expensed in prior periods |  |  |  |  |  | $ 7 |  |  |  |  | 7
Common stock to be issued for payment of consulting services expensed in prior periods (in shares) |  |  |  |  |  | 40,010 |  |  |  |  |
Common stock to be issued for payment of consulting services expensed in prior periods |  |  |  |  |  | $ 40 |  |  |  |  | 40
Common stock issued to board of directors for services expensed in prior periods (in shares) |  |  |  |  |  | 18,879 |  |  |  |  |
Common stock issued to board of directors for services expensed in prior periods |  |  |  |  |  | $ 18 |  |  |  |  | 18
Number of options exercised (in shares) |  |  |  |  |  | 435,558 |  |  |  |  |
Common stock issued to employee for stock options exercised |  |  |  |  |  | $ 436 | 689,754 |  |  |  | 690,190
Common stock to be issued to employees for bonuses |  |  |  |  |  |  | 100,000 |  |  |  | 100,000
Common stock issued for warrants exercised (in shares) |  |  |  |  |  | 1,918,925 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  | $ 1,919 | 3,010,297 |  |  |  | 3,012,216
Net loss |  |  |  |  |  |  |  | (972,869) | (12,988) |  | (985,857)
Common stock issued for warrants |  |  |  |  |  | $ 1,919 | 3,010,297 |  |  |  | 3,012,216
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  | 66,591,882 |  |  |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  | $ 66,591 | $ 121,848,254 | $ (101,858,826) | $ (107,414) | $ (911,516) | $ 19,037,089

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