IANAL, but I was around the block several times.
First, find a competent lawyer who specializes in startups and gets some professional advice and will follow him. Preventive advocacy is indeed much cheaper than waiting until it's too late.
Secondly, protect yourself and make sure that you do everything in writing. If your employer does not bite, and you decide to do it yourself, then you will be protected when you succeed, and your company will return later and try to declare itself. I saw how this happened more than once.
Third, try to get the people you submit to sign without disclosure. If they have half the brain, they will not sign one, but this is an important sign of your intentions. Without the NDA, do your best to not pass on your idea to anyone who can accept the idea and launch it based on your elevator height. This usually means truly competent technical people or business experts.
If you have to worry about the deal, return to the competent lawyer you retained.
Jeff leonard
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