Income taxes, Deferred Tax Assets (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Deferred tax assets [Abstract]
Net operating loss carryforwards	$ 28,047,903	$ 23,727,093
Net operating loss carryforwards - foreign	18,649	20,227
Excess of tax basis over book value of property and equipment	7,754	4,240
Excess of tax basis over book value of intangible assets	1,811,264	73,705
Stock-based compensation	1,613,258	1,607,841
Accrued employee compensation	426,514	357,869
Capitalized equity costs	49,471	49,471
Net change in reserve accounts	287,035	38,323
Gross deferred tax assets	32,261,848	25,878,769
Valuation allowance	(32,261,848)	(25,878,769)
Net deferred tax assets	0	0
Income Tax Penalties and Interest Expense [Abstract]
Income tax penalties	0	0
Interest on income taxes	$ 0	0
Earliest Tax Year [Member]
Operating Loss Carryforwards [Abstract]
Operating loss carryforwards, expiry date	Dec. 31, 2024
Latest Tax Year [Member]
Operating Loss Carryforwards [Abstract]
Operating loss carryforwards, expiry date	Dec. 31, 2025
Domestic [Member]
Operating Loss Carryforwards [Abstract]
Net operating loss carryforwards				$ 77,900,000
Operating loss carryforwards limited with no expiration	$ 36,300,000	36,300,000	$ 36,300,000
Foreign [Member]
Operating Loss Carryforwards [Abstract]
Net operating loss carryforwards	100,000
State and Local Jurisdiction [Member]
Operating Loss Carryforwards [Abstract]
Net operating loss carryforwards				$ 77,900,000
Operating loss carryforwards limited with no expiration	$ 36,300,000	$ 36,300,000	$ 36,300,000