Quarterly Results (unaudited) (Details) - USD ($)	3 Months Ended								12 Months Ended
	Dec. 31, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2018	Sep. 30, 2018	Jun. 30, 2018	Mar. 31, 2018	Dec. 31, 2019	Dec. 31, 2018
Revenues:
Total revenues	$ 19,480,000	$ 18,389,000	$ 17,814,000	$ 14,833,000	$ 13,538,000	$ 10,687,000	$ 9,923,000	$ 8,768,000	$ 70,515,715	$ 42,917,245
Gross margin	10,388,000	9,275,000	8,752,000	6,768,000	6,572,000	4,689,000	4,231,000	3,840,000	35,182,382	19,437,900
Operating (loss)/income	1,718,000	1,481,000	1,014,000	(898,000)	423,000	581,000	205,000	(373,000)	3,315,021	877,535
Net income/(loss) from continuing operations	2,146,000	1,231,000	840,000	1,126,000	(122,000)	1,293,000	299,000	(272,000)	5,342,545	1,237,810
Income from discontinued operations net of income taxes	0	0	0	0	1,062,000	7,556,000	768,000	421,000	0	9,766,431
Net income	2,146,000	1,231,000	840,000	1,126,000	940,000	8,849,000	1,067,000	149,000	5,342,545	11,004,241
Net income attributable to common stockholders	$ 2,146,000	$ 1,117,000	$ 751,000	$ 1,043,000	$ 873,000	$ 8,785,000	$ 1,004,000	$ 84,000	$ 5,057,095	$ 10,746,939
Net income/(loss) per share from continuing operations:
Basic (in dollars per share)	$ 0.07	$ 0.04	$ 0.03	$ 0.04	$ 0.00	$ 0.05	$ 0.01	$ (0.01)	$ 0.19	$ 0.04
Diluted (in dollars per share)	0.07	0.04	0.02	0.03	0.00	0.04	0.01	(0.01)	0.17	0.04
Net income per share from discontinued operations:
Basic (in dollars per share)	0.00	0.00	0.00	0.00	0.04	0.27	0.03	0.02	0.00	0.35
Diluted (in dollars per share)	0.00	0.00	0.00	0.00	0.04	0.23	0.02	0.02	0.00	0.30
Net income attributable to common stockholders:
Basic (in dollars per share)	0.07	0.04	0.03	0.04	0.03	0.31	0.04	0.00	0.18	0.39
Diluted (in dollars per share)	$ 0.07	$ 0.03	$ 0.02	$ 0.03	$ 0.03	$ 0.27	$ 0.03	$ 0.00	$ 0.16	$ 0.33
Weighted average shares:
Basic (in shares)	30,159,322	28,291,297	28,246,840	28,039,080	28,067,348	27,901,631	27,531,361	27,204,989	28,688,867	27,596,401
Diluted (in shares)	32,211,847	32,115,847	33,650,790	33,479,935	28,067,348	33,055,881	31,506,745	27,204,989	31,840,584	32,452,228
Products and licensing
Revenues:
Total revenues	$ 13,032,000	$ 11,894,000	$ 11,373,000	$ 8,192,000	$ 7,990,000	$ 5,371,000	$ 4,457,000	$ 4,131,000
Technology development
Revenues:
Total revenues	$ 6,448,000	$ 6,495,000	$ 6,441,000	$ 6,641,000	$ 5,548,000	$ 5,316,000	$ 5,466,000	$ 4,637,000