Schedule of Revenue by Country (Details) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2021	Sep. 30, 2020	Sep. 30, 2021	Sep. 30, 2020
Revenue by country	$ 919,400	$ 894,600	$ 2,678,700	$ 2,805,300
UNITED STATES
Revenue by country	379,300	261,000	1,091,500	875,500
BRAZIL
Revenue by country	174,600	358,100	600,200	951,600
JAPAN
Revenue by country	115,800	104,900	298,700	270,800
Other Countries [Member]
Revenue by country	$ 249,700	$ 170,600	$ 688,300	$ 707,400