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, 2023
Dec. 31, 2022
Dec. 31, 2019
Operating Loss Carryforwards [Line Items]      
Research and development tax credit carryforwards $ 10,046,000 $ 9,376,000  
Deferred tax assets valuation allowance increase 10,807,000 8,633,000  
Capitalized R&D costs 23,557,000 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 $ 218,633,000 $ 197,846,000  
Operating loss carryforwards expiration year 2029    
Net operating loss carryforwards no expiration $ 218,633,000   $ 162,282,000
Net operating loss carryforwards limitation percentage on taxable income 80.00% 80.00%  
MASSACHUSETTS [Member]      
Operating Loss Carryforwards [Line Items]      
Net operating loss carryforwards $ 208,042,000 $ 188,273,000  
Foreign Tax Authority [Member]      
Operating Loss Carryforwards [Line Items]      
Research and development tax credit carryforwards $ 2,687,000 $ 90,000