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SCHEDULE OF DEFERRED TAX ASSETS AND LIABILITIES (Details) - USD ($)
Dec. 31, 2022
Dec. 31, 2021
Income Tax Disclosure [Abstract]    
Net operating loss $ 33,540,000 $ 33,362,000
Research and development credits 7,857,000 6,185,000
Accrued expenses 1,020,000 757,000
Patent 262,000
Stock compensation 3,069,000 2,747,000
Research and development expenses 1,196,000
Fixed assets 280,000 282,000
Total deferred income tax assets 46,962,000 43,595,000
Intangible assets (1,324,000) (34,000)
Right-of-use asset (382,000) (436,000)
Total deferred income tax liabilities (1,706,000) (470,000)
Net deferred income tax assets 45,256,000 43,125,000
Valuation allowance (45,614,000) (43,125,000)
Deferred tax asset, net of allowance $ (358,000)