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Stock Options and Warrants (Details 2) - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Summary of information about stock options outstanding      
Number Outstanding 1,859,000 1,369,649 838,149
Exercisable 1,488,997 1,269,649  
Weighted Average Exercise Price $ 1.56 $ 2.01 $ 3.08
Employee Stock Option [Member] | $0.00 - $5.00 [Member]      
Summary of information about stock options outstanding      
Range of Exercise Prices, Minimum 0.00    
Range of Exercise Prices, Maximum $ 5.00    
Number Outstanding 1,784,000    
Exercisable 1,414,000    
Weighted Average Life 3 years 8 months 9 days    
Weighted Average Exercise Price $ 1.25    
Employee Stock Option [Member] | $5.01 - $15.00 [Member]      
Summary of information about stock options outstanding      
Range of Exercise Prices, Minimum 5.01    
Range of Exercise Prices, Maximum $ 15.00    
Number Outstanding 75,000    
Exercisable 75,000    
Weighted Average Life 3 months 26 days    
Weighted Average Exercise Price $ 8.85    
Employee Stock Option [Member] | $0.00 - $15.00 [Member]      
Summary of information about stock options outstanding      
Range of Exercise Prices, Minimum 0.00    
Range of Exercise Prices, Maximum $ 15.00    
Number Outstanding 1,859,000    
Exercisable 1,489,000    
Weighted Average Life 3 years 6 months 18 days    
Weighted Average Exercise Price $ 1.56