Income Taxes, Deferred Tax Assets (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Deferred Tax Assets [Abstract]
Net operating loss carryforwards	$ 38,323,000	$ 33,238,000
Net operating loss carryforwards - foreign	24,000	23,000
Excess of tax basis over book value of property and equipment	9,000	14,000
Excess of tax basis over book value of intangible assets	1,325,000	1,622,000
Lease liability	150,000	96,000
Stock-based compensation	1,487,000	1,613,000
Accrued employee compensation	750,000	698,000
Capitalized equity costs	0	49,000
Capitalized research and development	116,000	0
Net change in reserve accounts	1,031,000	898,000
Gross deferred tax assets	43,215,000	38,251,000
Valuation Allowance	(43,070,000)	(38,165,000)
Net Deferred Tax Asset	145,000	86,000
Deferred Tax Liabilities, Net [Abstract]
Right-of-use asset	(145,000)	(86,000)
Gross deferred tax liability	(145,000)	(86,000)
TOTAL	0	0
Capitalized R&D costs	600,000
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
U.S. Federal [Member]
Deferred Tax Liabilities, Net [Abstract]
Capitalized R&D, amortization period	5 years
Operating Loss Carryforwards [Abstract]
Net operating loss carryforwards						$ 159,700,000
Operating loss carryforwards, expiry date	Dec. 31, 2042
Operating loss carryforwards limited with no expiration	$ 81,800,000	$ 81,800,000	$ 81,800,000	$ 81,800,000	$ 81,800,000
Outside U.S. [Member]
Deferred Tax Liabilities, Net [Abstract]
Capitalized R&D, amortization period	15 years
Operating Loss Carryforwards [Abstract]
Net operating loss carryforwards	$ 100,000
State [Member]
Operating Loss Carryforwards [Abstract]
Operating loss carryforwards limited with no expiration	$ 70,500,000