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Consolidated Statements of Changes in Stockholders' Equity - 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 | 790,915 | 0 | 0 |  | 790,915
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) | 0 | 0 | 0 | 0
Common stock to be issued for payment of services expensed in prior periods (in shares) | 40,010 |  |  |  |  |  | 18,879 |  |  |  |  |  |  |  |  |  |  |
Common stock to be issued for payment of services expensed in prior periods | $ 40 | $ (40) | $ 0 | $ 0 | $ 0 | $ 0 | $ 19 | $ (19) | $ 0 | $ 0 | $ 0 | $ 0 |  |  |  |  |  |
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  |  |  |  |  |  | 100,000 |  |  |  | 100,000
Common stock issued to employee for stock options exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 826,499 |  |  |  |  |
Common stock issued to employee for stock options exercised |  |  |  |  |  |  |  |  |  |  |  |  | $ 826 | 1,381,060 | 0 | 0 | 0 | 1,381,886
Common stock issued to employee for compensation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 18,345 |  |  |  |  |
Common stock issued for compensation |  |  |  |  |  |  |  |  |  |  |  |  | $ 18 | 107,482 | 0 |  |  | 107,500
Common stock issued for services (in shares) | 289,661 |  |  |  |  |  | 277,767 |  |  |  |  |  |  |  |  |  |  |
Common stock issued for services | $ 290 | 770,044 | 0 |  |  | 770,334 | $ 278 | 617,889 | 0 |  |  | 618,167 |  |  |  |  |  |
Common stock issued to employee for bonus expensed in prior periods (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 402,490 |  |  |  |  |
Common stock issued to employee for bonus expensed in prior periods |  |  |  |  |  |  |  |  |  |  |  |  | $ 402 | (402) | 0 | 0 | 0 | 0
Common stock issued for warrants exercised (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 2,101,175 |  |  |  |  |
Common stock issued for warrants exercised |  |  |  |  |  |  |  |  |  |  |  |  | $ 2,102 | 3,213,942 | 0 | 0 | 0 | 3,216,044
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (6,818,317) | (58,115) |  | (6,876,432)
Common stock issued to employee for compensation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 18,345 |  |  |  |  |
Common stock issued to employees for bonuses (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 402,490 |  |  |  |  |
Common stock issued to employees for bonuses |  |  |  |  |  |  |  |  |  |  |  |  | $ 402 | (402) | 0 | 0 | 0 | 0
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 |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,499,302 |  |  |  | 1,499,302
Common stock to be issued to employees for bonuses |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | 264,385 |  |  |  | 264,385
Common stock issued to employee for compensation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 30,196 |  |  |  |  |
Common stock issued for compensation |  |  |  |  |  |  |  |  |  |  |  |  | $ 30 | 39,973 | 0 | 0 | 0 | 40,003
Common stock issued for services (in shares) | 577,074 |  |  |  |  |  | 398,553 |  |  |  |  |  |  |  |  |  |  |
Common stock issued for services | $ 577 | $ 746,774 | $ 0 | $ 0 | $ 0 | $ 747,351 | $ 399 | $ 12,478 | $ 0 | $ 0 | $ 0 | $ 12,877 |  |  |  |  |  |
Common stock issued to employee for bonus expensed in prior periods (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 147,338 |  |  |  |  |
Common stock issued to employee for bonus expensed in prior periods |  |  |  |  |  |  |  |  |  |  |  |  | $ 147 | (147) |  |  |  | 0
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (8,706,131) | (66,735) |  | (8,772,866)
Common stock issued to employee for compensation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 30,196 |  |  |  |  |
Common stock issued to employees for bonuses (in shares) |  |  |  |  |  |  |  |  |  |  |  |  | 147,338 |  |  |  |  |
Common stock issued to employees for bonuses |  |  |  |  |  |  |  |  |  |  |  |  | $ 147 | (147) |  |  |  | 0
Balance (in shares) at Dec. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  |  | 69,306,497 |  |  |  |  |
Balance at Dec. 31, 2022 |  |  |  |  |  |  |  |  |  |  |  |  | $ 69,306 | $ 127,478,325 | $ (116,410,405) | $ (219,276) | $ (911,516) | $ 10,006,434

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