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Stockholders' equity - Company Recognized Stock Compensation Expense (Details) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2017
Jun. 30, 2016
Jun. 30, 2017
Jun. 30, 2016
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation expense $ 209,307 $ 266,399 $ 454,712 $ 527,896
Cost of Services [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation expense 2,145 696 3,968 5,008
Research and Development [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation expense 52,777 73,204 110,555 135,422
General and Administrative [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation expense 160,419 177,025 312,895 349,128
Sales and Marketing [Member]        
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]        
Allocated share-based compensation expense $ (6,034) $ 15,474 $ 27,294 $ 38,338