Income Taxes, Significant Components of Deferred Tax Assets and Liabilities (Details) - USD ($)	Dec. 31, 2016	Dec. 31, 2015
Deferred tax Assets [Abstract]
Fixed assets	$ 133,000	$ 163,000
Deferred revenue	39,000	28,000
Accruals and reserves	324,000	428,000
Stock options	945,000	1,706,000
Net operating loss carryforwards	48,852,000	44,863,000
Federal and state credits	3,320,000	3,323,000
Foreign credits	156,000	152,000
Intangible assets	4,167,000	4,259,000
Research and development expense	4,347,000	2,539,000
Gross deferred tax assets	62,283,000	57,461,000
Valuation allowance	(62,079,000)	(57,245,000)
Total deferred tax assets	204,000	216,000
Deferred Tax Liabilities	0	0
Net deferred tax asset/liabilities	204,000	$ 216,000
Cumulative undistributed earnings of foreign subsidiaries	1,700,000
US tax impact on undistributed earnings of foreign subsidiaries if remitted	0
Foreign withholding taxes on undistributed earnings of foreign subsidiaries if remitted	$ 725,000