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OPTIONS, RESTRICTED STOCK UNITS AND WARRANTS (Details) - Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range

v3.21.2
OPTIONS, RESTRICTED STOCK UNITS AND WARRANTS (Details) - Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range - $ / shares
9 Months Ended 12 Months Ended
Sep. 30, 2021
Dec. 31, 2020
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options Outstanding, Number of Options 4,037,122 3,568,497
Options Outstanding, Weighted Average Remaining Life 6 years 6 months 7 years
Options Exercisable, Number of Options 2,765,925  
Options at $2.51-$5.00 [Member]    
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options Outstanding, Exercise Price, Lower Range Limit (in Dollars per share) $ 2.51  
Options Outstanding, Exercise Price, Upper Range Limit (in Dollars per share) $ 5  
Options Outstanding, Number of Options 2,539,757  
Options Outstanding, Weighted Average Remaining Life 7 years 2 months 12 days  
Options Exercisable, Number of Options 1,579,427  
Options at $5.01-$7.50 [Member]    
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options Outstanding, Exercise Price, Lower Range Limit (in Dollars per share) $ 5.01  
Options Outstanding, Exercise Price, Upper Range Limit (in Dollars per share) $ 7.5  
Options Outstanding, Number of Options 1,229,032  
Options Outstanding, Weighted Average Remaining Life 4 years 8 months 12 days  
Options Exercisable, Number of Options 997,757  
Options at $7.51-$10.00 [Member]    
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options Outstanding, Exercise Price, Lower Range Limit (in Dollars per share) $ 7.51  
Options Outstanding, Exercise Price, Upper Range Limit (in Dollars per share) $ 10  
Options Outstanding, Number of Options 203,333  
Options Outstanding, Weighted Average Remaining Life 8 years  
Options Exercisable, Number of Options 138,326  
Options at $10.01 - 12.50 [Member]    
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options Outstanding, Exercise Price, Lower Range Limit (in Dollars per share) $ 10.01  
Options Outstanding, Exercise Price, Upper Range Limit (in Dollars per share) $ 12.5  
Options Outstanding, Number of Options 65,000  
Options Outstanding, Weighted Average Remaining Life 8 years 7 months 6 days  
Options Exercisable, Number of Options 50,415  
Options at $5.00 [Member]    
Share-based Payment Arrangement, Option, Exercise Price Range [Line Items]    
Options Outstanding, Exercise Price, Lower Range Limit (in Dollars per share) $ 5  
Options Outstanding, Exercise Price, Upper Range Limit (in Dollars per share) $ 5  
Options Outstanding, Number of Options 125,000  
Options Outstanding, Weighted Average Remaining Life 6 years 1 month 13 days  
Options Exercisable, Number of Options 74,998