Shareholders' Equity (Details 1)	6 Months Ended
	Jun. 30, 2020 $ / shares shares
Schedule of employee and director options outstanding
Outstanding, Options outstanding | shares	6,667,059
Outstanding, Weighted average remaining contractual life in years	3 years 6 months 10 days
Outstanding, Weighted average exercise price per share	$ 2.10
Exercisable, Options exercisable | shares	3,871,797
Exercisable, Weighted average exercise price per share	$ 2.23
Range One [Member]
Schedule of employee and director options outstanding
Outstanding, Exercise price per share, lower limit	1.06
Outstanding, Exercise price per share, upper limit	$ 1.64
Outstanding, Options outstanding | shares	1,599,721
Outstanding, Weighted average remaining contractual life in years	4 years 4 days
Outstanding, Weighted average exercise price per share	$ 1.56
Exercisable, Options exercisable | shares	500,221
Exercisable, Weighted average exercise price per share	$ 1.46
Range Two [Member]
Schedule of employee and director options outstanding
Outstanding, Exercise price per share, lower limit	1.70
Outstanding, Exercise price per share, upper limit	$ 2.00
Outstanding, Options outstanding | shares	1,599,860
Outstanding, Weighted average remaining contractual life in years	3 years 3 months 22 days
Outstanding, Weighted average exercise price per share	$ 1.87
Exercisable, Options exercisable | shares	1,180,775
Exercisable, Weighted average exercise price per share	$ 1.93
Range Three [Member]
Schedule of employee and director options outstanding
Outstanding, Exercise price per share, lower limit	2.05
Outstanding, Exercise price per share, upper limit	$ 2.29
Outstanding, Options outstanding | shares	1,447,490
Outstanding, Weighted average remaining contractual life in years	4 years 2 months 19 days
Outstanding, Weighted average exercise price per share	$ 2.10
Exercisable, Options exercisable | shares	529,200
Exercisable, Weighted average exercise price per share	$ 2.10
Range Four [Member]
Schedule of employee and director options outstanding
Outstanding, Exercise price per share, lower limit	2.30
Outstanding, Exercise price per share, upper limit	$ 2.75
Outstanding, Options outstanding | shares	898,662
Outstanding, Weighted average remaining contractual life in years	3 years 8 months 26 days
Outstanding, Weighted average exercise price per share	$ 2.39
Exercisable, Options exercisable | shares	641,840
Exercisable, Weighted average exercise price per share	$ 2.37
Range Five [Member]
Schedule of employee and director options outstanding
Outstanding, Exercise price per share, lower limit	2.90
Outstanding, Exercise price per share, upper limit	$ 3.20
Outstanding, Options outstanding | shares	1,121,326
Outstanding, Weighted average remaining contractual life in years	2 years 1 month 2 days
Outstanding, Weighted average exercise price per share	$ 2.97
Exercisable, Options exercisable | shares	1,019,761
Exercisable, Weighted average exercise price per share	$ 2.97