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Consolidated Balance Sheets (Parenthetical) - USD ($)
Dec. 31, 2020
Dec. 31, 2019
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts $ 964,000 $ 859,000
Accounts payable and accrued expenses related parties $ 400,000 $ 210,000
Preferred stock, par value $ 0.001 $ 0.001
Preferred stock, shares authorized 3,000,000 3,000,000
Preferred stock, shares outstanding 0 0
Common stock, par value $ 0.001 $ 0.001
Common stock, shares authorized 60,000,000 60,000,000
Common stock, shares issued 31,906,971 29,478,338
Common stock, shares outstanding 31,906,971 29,478,338