Shareholders' Equity (Details 1)	12 Months Ended
	Dec. 31, 2019 $ / shares shares
Schedule of employee and director options outstanding separated into ranges of exercise prices
Options outstanding | shares	7,299,667
Weighted average remaining contractual life in years	3 years 9 months 22 days
Outstanding weighted average exercise price per share	$ 2.16
Options exercisable | shares	3,797,668
Exercisable weighted average exercise price per share	$ 2.45
Range One [Member]
Schedule of employee and director options outstanding separated into ranges of exercise prices
Exercise price per share, lower limit	1.44
Exercise price per share, upper limit	$ 1.93
Options outstanding | shares	2,376,531
Weighted average remaining contractual life in years	4 years 4 months 17 days
Outstanding weighted average exercise price per share	$ 1.62
Options exercisable | shares	951,031
Exercisable weighted average exercise price per share	$ 1.57
Range Two [Member]
Schedule of employee and director options outstanding separated into ranges of exercise prices
Exercise price per share, lower limit	2.00
Exercise price per share, upper limit	$ 2.13
Options outstanding | shares	2,349,571
Weighted average remaining contractual life in years	4 years 26 days
Outstanding weighted average exercise price per share	$ 2.06
Options exercisable | shares	1,269,571
Exercisable weighted average exercise price per share	$ 2.59
Range Three [Member]
Schedule of employee and director options outstanding separated into ranges of exercise prices
Exercise price per share, lower limit	2.14
Exercise price per share, upper limit	$ 2.75
Options outstanding | shares	1,106,701
Weighted average remaining contractual life in years	4 years 2 months 30 days
Outstanding weighted average exercise price per share	$ 2.37
Options exercisable | shares	426,543
Exercisable weighted average exercise price per share	$ 2.34
Range Four [Member]
Schedule of employee and director options outstanding separated into ranges of exercise prices
Exercise price per share, lower limit	2.90
Exercise price per share, upper limit	$ 3.07
Options outstanding | shares	1,146,364
Weighted average remaining contractual life in years	2 years 6 months 21 days
Outstanding weighted average exercise price per share	$ 2.97
Options exercisable | shares	838,703
Exercisable weighted average exercise price per share	$ 2.99
Range Five [Member]
Schedule of employee and director options outstanding separated into ranges of exercise prices
Exercise price per share, lower limit	3.20
Exercise price per share, upper limit	$ 3.32
Options outstanding | shares	320,500
Weighted average remaining contractual life in years	6 months 14 days
Outstanding weighted average exercise price per share	$ 3.32
Options exercisable | shares	311,820
Exercisable weighted average exercise price per share	$ 3.32