Accrued Liabilities (Details) - USD ($)	Dec. 31, 2015	Dec. 31, 2014	Dec. 31, 2013
Accrued Liabilities [Abstract]
Accrued salaries, bonus, and benefits	$ 3,053,012	$ 2,557,557
Accrued rent	1,361,379	1,407,740
Accrued licenses and maintenance fees	666,373	661,766
Accrued interest	494,703	493,616
Accrued warranties	316,835	364,548	$ 501,212
Accrued taxes	324,226	332,364
Other	117,465	102,479
Total accrued liabilities	6,333,993	5,920,070
Less: Long term accrued liabilities	(275,603)	(660,376)
Total current accrued liabilities	$ 6,058,390	$ 5,259,694