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The gross carrying amounts and accumulated amortization related to acquired intangible assets as of September, 2021 and December 31, 2020 were as follows (Details) - USD ($)
Sep. 30, 2021
Dec. 31, 2020
Finite-Lived Intangible Assets [Line Items]    
Finite-Lived Patents, Gross $ 1,444,000 $ 1,578,000
Patents [Member]    
Finite-Lived Intangible Assets [Line Items]    
Finite-Lived Intangible Assets, Gross 7,934,000 7,848,000
Finite-Lived Intangible Assets, Accumulated Amortization (6,490,000) (6,270,000)
Finite-Lived Patents, Gross $ 1,444,000 $ 1,578,000