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Condensed Consolidated Statements of Changes in Stockholders' Equity (Deficiency) (Unaudited) - USD ($) | Warrants Issued in Bridge Financing [Member] Preferred Stock [Member] | Warrants Issued in Bridge Financing [Member] Common Stock [Member] | Warrants Issued in Bridge Financing [Member] Additional Paid-in Capital [Member] | Warrants Issued in Bridge Financing [Member] Retained Earnings [Member] | Warrants Issued in Bridge Financing [Member] | Warrant Issued for Technology License[Member] Preferred Stock [Member] | Warrant Issued for Technology License[Member] Common Stock [Member] | Warrant Issued for Technology License[Member] Additional Paid-in Capital [Member] | Warrant Issued for Technology License[Member] Retained Earnings [Member] | Warrant Issued for Technology License[Member] | Conversion from Convertible Debentures to Conversion Units [Member] Preferred Stock [Member] | Conversion from Convertible Debentures to Conversion Units [Member] Common Stock [Member] | Conversion from Convertible Debentures to Conversion Units [Member] Additional Paid-in Capital [Member] | Conversion from Convertible Debentures to Conversion Units [Member] Retained Earnings [Member] | Conversion from Convertible Debentures to Conversion Units [Member] | Preferred Stock [Member] | Common Stock [Member] | Additional Paid-in Capital [Member] | Retained Earnings [Member] | Total
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Balance (in shares) at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 3,450 | 11 |  |  |
Balance at Dec. 31, 2018 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,971,333 | $ 0 | $ 37,483,204 | $ (40,476,884) | $ (1,022,347)
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 162 |  |  | 162
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 24,000 | 0 | $ 24,000
Stock option expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 | 104,420 | 0 | 104,420
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 0 | (2,370,629) | (2,370,629)
Sale of convertible preferred stock for cash and cancellation of note payable (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 1,700 | 0 |  |  |
Sale of convertible preferred stock for cash and cancellation of note payable |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,542,950 | $ 0 | 147,050 | 0 | 1,690,000
Conversion of preferred stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (2,664) | 14,819 |  |  |
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (1,581,850) | $ 15 | 1,581,835 | 0 | 0
Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,486 | 14,992 |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,932,433 | $ 15 | 39,340,509 | (42,847,513) | (1,574,556)
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 521 |  |  |
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 1 | 5,999 | 0 | 6,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (595,694) | (595,694)
Sale of convertible preferred stock for cash and cancellation of note payable (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 300 |  |  |  |
Sale of convertible preferred stock for cash and cancellation of note payable |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 300,000 |  |  |  | 300,000
Conversion of preferred stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (2,386) | 674,067 |  |  |
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (1,856,338) | $ 674 | 1,855,664 |  |
Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 400 | 689,580 |  |  |
Balance at Mar. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 376,095 | $ 690 | 41,202,172 | (43,443,207) | (1,864,250)
Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,486 | 14,992 |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,932,433 | $ 15 | 39,340,509 | (42,847,513) | (1,574,556)
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1,621,546)
Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 3,559,473 |  |  |
Balance at Sep. 30, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 3,559 | 55,203,149 | (44,469,059) | 10,813,744
Balance (in shares) at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,486 | 14,992 |  |  |
Balance at Dec. 31, 2019 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 1,932,433 | $ 15 | 39,340,509 | (42,847,513) | (1,574,556)
Sale of common stock for cash (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 2,310,000 |  |  |
Sale of common stock for cash |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 2,310 | 11,156,186 | 0 | $ 11,158,496
Common stock issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 286,902 |  |  | 36,902
Issuance of common stock upon warrant exercise |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 287 | 2,213 | 0 | $ 2,500
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 26,581 |  |  | 26,581
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 27 | 94,373 | 0 | $ 94,400
Stock option expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 | 18,730 | 0 | 18,730
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 | 0 | (2,958,068) | (2,958,068)
Warrants issued in bridge financing |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 457,833 | 0 | 457,833
Sale of convertible preferred stock for cash and cancellation of note payable (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 300 | 0 |  |  |
Sale of convertible preferred stock for cash and cancellation of note payable |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 300,000 | $ 0 | 0 | 0 | 300,000
Conversion of preferred stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (2,686) | 716,790 |  |  |
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (2,156,338) | $ 717 | 2,155,621 | 0 | 0
Common stock issued for cancellation of accrued compensation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 300,001 |  |  |
Issuance of common stock upon cancellation of accrued compensation |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 300 | 1,499,700 | 0 | 1,500,000
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 3,834,095 |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 3,834 | 55,294,504 | (45,805,581) | 9,568,852
Balance (in shares) at Mar. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 400 | 689,580 |  |  |
Balance at Mar. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 376,095 | $ 690 | 41,202,172 | (43,443,207) | (1,864,250)
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 2,124 |  |  |
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 2 | 11,998 | 0 | 12,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 0 | (455,204) | (455,204)
Warrants issued in bridge financing | $ 0 | $ 0 | $ 457,833 | $ 0 | $ 457,833 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Balance (in shares) at Jun. 30, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 400 | 691,704 |  |  |
Balance at Jun. 30, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 376,095 | $ 692 | 41,672,003 | (43,898,411) | (1,849,621)
Sale of common stock for cash (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 2,310,000 |  |  |
Sale of common stock for cash |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 2,310 | 11,156,186 | 0 | 11,158,496
Common stock issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 36,902 |  |  |
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 517 |  |  |
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 6,000 | 0 | 6,000
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 0 | (570,648) | (570,648)
Conversion of preferred stock to common stock (in shares) |  |  |  |  |  |  |  |  |  |  | 0 | 177,626 |  |  |  | (300) | 42,723 |  |  |
Conversion of preferred stock to common stock |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 177 | $ 569,340 | $ 0 | $ 569,517 | $ (300,000) | $ 43 | 299,957 | 0 | 0
Warrants exercised for common stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 37 | (37) | 0 | 0
Common stock issued for cancellation of accrued compensation (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 300,001 |  |  |
Issuance of common stock upon cancellation of accrued compensation |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 300 | 1,499,700 | 0 | 1,500,000
Balance (in shares) at Sep. 30, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 3,559,473 |  |  |
Balance at Sep. 30, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 3,559 | 55,203,149 | (44,469,059) | 10,813,744
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 3,834,095 |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 3,834 | 55,294,504 | (45,805,581) | 9,568,852
Sale of common stock for cash (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 1,644,000 |  |  |
Sale of common stock for cash |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 1,644 | 9,407,276 | 0 | 9,408,920
Common stock issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 835,900 |  |  |
Issuance of common stock upon warrant exercise |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 836 | 3,173,320 | 0 | 3,174,156
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 1,472 |  |  |
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 1 | 5,999 | 0 | 6,000
Stock option expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 56,190 |  | 56,190
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (1,562,778) | (1,562,778)
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 6,315,467 |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 6,315 | 67,937,289 | (47,368,359) | 20,651,340
Balance (in shares) at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 3,834,095 |  |  |
Balance at Dec. 31, 2020 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 3,834 | 55,294,504 | (45,805,581) | $ 9,568,852
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 13,707
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (4,827,314)
Balance (in shares) at Sep. 30, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 6,381,541 |  |  |
Balance at Sep. 30, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 6,382 | 68,630,363 | (50,632,895) | 18,003,850
Balance (in shares) at Mar. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 100 | 6,315,467 |  |  |
Balance at Mar. 31, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 76,095 | $ 6,315 | 67,937,289 | (47,368,359) | 20,651,340
Issuance of common stock for services (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 12,235 |  |  |
Issuance of common stock for services |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 13 | 65,828 | 0 | 65,841
Stock option expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 | 56,190 | 0 | 56,190
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 0 | (1,314,033) | (1,314,033)
Repurchase of preferred stock (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | (100) | 0 |  |  |
Repurchase of preferred stock |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ (76,095) | $ 0 | 75,095 | 0 | (1,000)
Balance (in shares) at Jun. 30, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 6,327,702 |  |  |
Balance at Jun. 30, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 6,328 | 68,134,402 | (48,682,392) | 19,458,338
Common stock issued (in shares) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 53,839 |  |  |
Issuance of common stock upon warrant exercise |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 54 | 229,946 | 0 | 230,000
Stock option expense |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 0 | 56,190 | 0 | 56,190
Net loss |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 0 | 0 | (1,950,503) | (1,950,503)
Warrants issued in bridge financing |  |  |  |  |  | $ 0 | $ 0 | $ 209,825 | $ 0 | $ 209,825 |  |  |  |  |  |  |  |  |  |
Balance (in shares) at Sep. 30, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 0 | 6,381,541 |  |  |
Balance at Sep. 30, 2021 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 0 | $ 6,382 | $ 68,630,363 | $ (50,632,895) | $ 18,003,850

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