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STOCK OPTIONS AND WARRANTS (Details 2) - $ / shares	9 Months Ended
	Sep. 30, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Options outstanding, weighted average exercise price	$ 4.61	$ 3.36	$ 4.41	$ 4,369.60
Stock Option [Member]
Options exercisable, number exercisable	497,283
Options outstanding, number outstanding	2,362,390
Exercise Price $16.00 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 16.00
Options exercisable, number exercisable	2,500
Options outstanding, weighted average exercise price	$ 16.00
Option outstanding, weighted average remaining contractual life (years)	1 year 4 months 20 days
Options outstanding, number outstanding	2,500
Exercise Price $8.00 - $9.00 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 8.41
Options exercisable, number exercisable	48,733
Options outstanding, weighted average exercise price	$ 8.43
Option outstanding, weighted average remaining contractual life (years)	4 years 6 months 18 days
Options outstanding, number outstanding	180,200
Exercise Price $6.00 - $7.00 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 6.37
Options exercisable, number exercisable	13,767
Options outstanding, weighted average exercise price	$ 6.30
Option outstanding, weighted average remaining contractual life (years)	3 years 6 months 18 days
Options outstanding, number outstanding	212,934
Exercise Price $4.00 - $5.00 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 4.62
Options exercisable, number exercisable	129,000
Options outstanding, weighted average exercise price	$ 4.60
Option outstanding, weighted average remaining contractual life (years)	4 years 8 months 8 days
Options outstanding, number outstanding	943,000
Exercise Prices $3.00 - $4.00 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 3.63
Options exercisable, number exercisable	76,946
Option outstanding, weighted average remaining contractual life (years)	4 years 5 months 19 days
Options outstanding, number outstanding	797,419
Options Outstanding, exercise prices	$ 3.91
Exercise Prices 1.00 - $2.00 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 1.44
Options exercisable, number exercisable	35,869
Options outstanding, weighted average exercise price	$ 1.44
Option outstanding, weighted average remaining contractual life (years)	2 years 5 months 12 days
Options outstanding, number outstanding	35,869
Exercise Price $2.56 [Member] | Stock Option [Member]
Options exercisable, Weighted average exercise price	$ 2.56
Options exercisable, number exercisable	190,468
Options outstanding, weighted average exercise price	$ 2.56
Option outstanding, weighted average remaining contractual life (years)	2 years 7 months 2 days
Options outstanding, number outstanding	190,468

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- Definition

Number of options outstanding, including both vested and non-vested options.

+ References

No definition available.

+ Details

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- Definition

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+ References

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- Definition

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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- Definition

Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(i)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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- Definition

Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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