While i believe most people would agree that it's preferred to take them outside the areas where kids, families etc are expected to often be barefoot as well as living, cooking, eating etc. IF you can not for whatever reason I will suggest a product for neutralizing it as much as possible.
Natures Miracleis a product we sold in our pet shop and it has a good following. For use inside when accidents happen and could be used in a small outside pen as well. It is one of the safest products around as well.
For your use, a small garden sprayer should work with this product, but you do have to well coat whatever material you are sanitizing.