Stock Options and Award Programs (Details 2) - Employee Stock Option - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Number of shares, outstanding and exercisable, options outstanding, beginning balance	350,833	401,333
Number of shares, granted	0	2,500
Number of shares, cancelled	11,666	53,000
Number of shares, expired	49,333	0
Number of shares, exercised	102,500	0
Number of shares, outstanding and exercisable, options outstanding, ending balance	187,334	350,833
Number of shares, options vested and expected to vest, ending balance	186,197	331,018
Number of shares, options outstanding and exercisable, ending balance	134,834	266,667
Weighted average exercise price per share, outstanding and exercisable, options outstanding, beginning balance	$ 5.89	$ 5.85
Weighted average exercise price per share, granted	.00	4.10
Weighted average exercise price per share, cancelled	4.47	5.48
Weighted average exercise price per share, expired	6.03	.00
Weighted average exercise price per share, exercised	6.40	0.00
Weighted average exercise price per share, outstanding and exercisable, options outstanding, ending balance	5.66	5.89
Number of shares, vested and expected to vest, outstanding, weighted average exercise price, ending balance	5.67	5.89
Weighted average exercise price per share, options outstanding and exercisable, ending balance	$ 5.37	$ 5.76