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Summary of Significant Accounting Policies (Details Narrative) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Jul. 31, 2020
Product Information [Line Items]
Restricted Cash and Cash Equivalents	$ 0	$ 0
Compensating Balance, Amount	250,620
Revenue, Remaining Performance Obligation, Amount	6,900,000
Contract with Customer, Liability, Revenue Recognized	5,000,000.0	5,600,000
Capitalized Contract Cost, Net	$ 300,000	$ 300,000
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	52,678,020	50,851,655
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price	$ 2.90	$ 2.22
Class of Warrant or Right, Exercise Price of Warrants or Rights	$ 0.70
Revenue from Contract with Customer, Excluding Assessed Tax	$ 26,630,035	$ 28,902,550
Series A Convertible Preferred Stock [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	43,483,062
Series B Convertible Preferred Stock [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	5,610,121
Warrant [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	15,385
Class of Warrant or Right, Exercise Price of Warrants or Rights	$ 0.70
Stock Options and Stock Appreciation Rights [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	2,456,979
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price	$ 2.90
Restricted Stock [Member]
Product Information [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number	1,112,473
Revenue From System Delivery and Installation [Member]
Product Information [Line Items]
Concentration Risk, Percentage	14.00%	7.00%
Disposable Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	28.00%	33.00%
Royalty Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	8.00%	10.00%
Other Recurring Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	46.00%	47.00%
Sublease Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	4.00%	3.00%
Revenue from Contract with Customer Benchmark [Member] \| Biosense Webster Inc [Member] \| Customer Concentration Risk [Member]
Product Information [Line Items]
Concentration Risk, Percentage		1000.00%
Revenue from Contract with Customer, Excluding Assessed Tax		$ 2,800,000
Revenue from Contract with Customer Benchmark [Member] \| Finland accounted [Member] \| Customer Concentration Risk [Member]
Product Information [Line Items]
Concentration Risk, Percentage	10.00%
Revenue from Contract with Customer, Excluding Assessed Tax	$ 2,700,000
Minimum [Member]
Product Information [Line Items]
Property, Plant and Equipment, Useful Life	3 years
Finite-Lived Intangible Asset, Useful Life	10 years
Maximum [Member]
Product Information [Line Items]
Property, Plant and Equipment, Useful Life	10 years
Finite-Lived Intangible Asset, Useful Life	15 years
Systems [Member]
Product Information [Line Items]
Money Market Funds, at Carrying Value	$ 1,400,000
Revenue from Contract with Customer, Excluding Assessed Tax	3,626,284	$ 2,066,253
Systems [Member] \| Maximum [Member]
Product Information [Line Items]
Product Warranty Expense	$ 100,000
Letter of Credit [Member]
Product Information [Line Items]
Long-term Line of Credit			$ 300,000
Compensating Balance, Amount			$ 300,000