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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] Treasury Stock [Member] | Consultant [Member] | Board of Directors [Member] Common Stock [Member] | Board of Directors [Member] Additional Paid-in Capital [Member] | Board of Directors [Member] Retained Earnings [Member] | Board of Directors [Member] Noncontrolling Interest [Member] | Board of Directors [Member] Treasury Stock [Member] | Board of Directors [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, 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 |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 113,507 | 0 | 0 | 0 | 113,507
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 100,000 | 0 | 0 | 0 | 100,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | 0 | (972,869) | (12,988) | 0 | (985,857)
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 | 0 | 0 | 0 | 0 | 7
Common stock issued for services (in shares) | 40,010 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock to be issued for payment of consulting services expensed in prior periods | $ 40 | $ 0 | $ 0 | $ 0 | $ 0 | $ 40 | $ 18 | $ 0 |  |  |  |  |  |  |  |  |  |
Common stock to be issued for services (in shares) |  |  |  |  |  |  | 18,879 |  |  |  |  |  |  |  |  |  |  |
Common stock to be issued for services |  |  |  |  |  |  |  |  | $ 0 | $ 0 | $ 0 | $ 18 |  |  |  |  |  |
Common stock issued to employee for stock options exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 435,558 |  |  |  |  |
Common stock issued to employee for stock options exercised |  |  |  |  |  |  |  |  |  |  |  |  | $ 436 | 689,754 |  |  |  | 690,190
Common stock issued for warrants exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 1,918,925 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,919 | 3,010,297 | 0 | 0 | 0 | 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
Balance (in shares) at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  | 68,153,336 |  |  |  |  |
Balance at Dec. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  | $ 68,153 | 124,915,560 | (107,704,274) | (152,541) | (911,516) | 16,215,382
Stock based compensation |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 305,370 | 0 | 0 | 0 | 305,370
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 164,385 | 0 | 0 | 0 | 164,385
Net loss |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | 0 | (1,901,723) | (17,502) | 0 | (1,919,225)
Balance (in shares) at Mar. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  |  | 68,153,336 |  |  |  |  |
Balance at Mar. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  |  | $ 68,153 | $ 125,385,315 | $ (109,605,997) | $ (170,043) | $ (911,516) | $ 14,765,912

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