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Stockholders Equity - Summary of Stock Option Plans Activity (Details) - Employee Stock Option - USD ($)
12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Number of Shares, Beginning Balance 2,047,237 1,517,771  
Number of Shares, Granted 1,270,000 802,500  
Number of Shares, Exercised (54,256) (144,645)  
Number of Shares, Forfeited (161,571) (66,428)  
Number of Shares, Expired/Cancelled (196,512) (61,961)  
Number of Shares, Ending Balance 2,904,898 2,047,237 1,517,771
Number of Shares, Vested and expected to vest 2,904,898    
Number of Shares, Exercisable 1,380,865 1,256,352  
Weighted-Average Exercise Price Per Share, Beginning Balance $ 3.07 $ 2.97  
Weighted-Average Exercise Price Per Share, Granted 1.48 3.39  
Weighted-Average Exercise Price Per Share, Exercised 2.23 2.19  
Weighted-Average Exercise Price Per Share, Forfeited 3.29 3.24  
Weighted-Average Exercise Price Per Share, Expired/Cancelled 3.23 6.52  
Weighted-Average Exercise Price Per Share, Ending Balance 2.37 3.07 $ 2.97
Weighted-Average Exercise Price Per Share, Vested and expected to vest 2.37    
Weighted-Average Exercise Price Per Share, Exercisable $ 2.84 $ 2.91  
Weighted-Average Remaining Contractual Life, Outstanding 8 years 7 years 7 months 6 days 7 years 6 months
Weighted-Average Remaining Contractual Life, Vested and expected to vest 8 years    
Weighted-Average Remaining Contractual Life, Exercisable 6 years 7 months 6 days 6 years 6 months  
Aggregate Intrinsic Value, Balance $ 781 $ 366,007 $ 67,242
Aggregate Intrinsic Value, Exercised 21,380 243,531  
Aggregate Intrinsic Value, Vested and expected to vest 781    
Aggregate Intrinsic Value, Exercisable $ 96 $ 346,595