Annual report pursuant to Section 13 and 15(d)

INCOME TAXES (Details Narrative)

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INCOME TAXES (Details Narrative) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]        
Research and development tax credit carryforwards $ 9,376,000 $ 8,656,000    
Deferred tax assets valuation allowance increase 8,633,000 1,052,000    
Capitalized R&D costs 14,523,000      
Uncertain tax position $ 0 0    
Capitalize and amortize research and development, description We will amortize these costs for tax purposes over 5 years for R&D performed in the U.S. and over 15 years for R&D performed outside the U.S.      
Federal [Member]        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards $ 197,846,000 186,267,000    
Operating loss carryforwards expiration year 2029      
Net operating loss carryforwards no expiration $ 197,846,000 141,494,000 $ 141,494,000 $ 141,494,000
Net operating loss carryforwards limitation percentage on taxable income 80.00%      
MASSACHUSETTS [Member]        
Operating Loss Carryforwards [Line Items]        
Net operating loss carryforwards $ 188,273,000 $ 177,171,000