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Stockholders' Equity (Details 3)
12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Stockholders Equity [Abstract]  
Number of Shares Underlying Stock Options, Beginning | shares 1,011,266
Number of Shares Underlying Stock Options, Granted | shares 496,300
Number of Shares Underlying Stock Options, Exercised | shares (38,090)
Number of Shares Underlying Stock Options, Expired/Canceled | shares (7,093)
Number of Shares Underlying Stock Options, Forfeited | shares (85,989)
Number of Shares Underlying Stock Options, Ending | shares 1,376,394
Number of Shares Underlying Stock Options, Vested | shares 932,959
Number of Shares Underlying Stock Options, Expected to vest in the future | shares 443,435
Weighted Average Exercise Price Outstanding, Beginning $ 9.32
Weighted Average Exercise Price, Granted 7.64
Weighted Average Exercise Price, Exercised 3.22
Weighted Average Exercise Price, Expired/Cancelled 10.29
Weighted Average Exercise Price, Forfeited 7.73
Weighted Average Exercise Price Outstanding, Ending 8.98
Weighted Average Exercise Price, Vested 9.31
Weighted Average Exercise Price, Expected to vest in the future $ 8.28
Weighted-Average Remaining Contractual Term (Years) Outstanding, Beginning 6 years 8 months 12 days
Weighted-Average Remaining Contractual Term (Years) Outstanding, Ending 6 years 9 months 18 days
Weighted-Average Remaining Contractual Term (Years), Vested 6 years
Weighted-Average Remaining Contractual Term (Years), Expected to vest in the future 8 years 7 months 6 days
Aggregate Intrinsic Value Outstanding, Beginning | $ $ 1,006,743
Aggregate Intrinsic Value, Granted $ 156,744
Aggregate Intrinsic Value, Expired/Cancelled 664
Aggregate Intrinsic Value, Forfeited $ 53,047
Aggregate Intrinsic Value Outstanding, Ending | $ $ 1,232,545
Aggregate Intrinsic Value, Vested | $ 950,659
Aggregate Intrinsic Value, Expected to vest in the future | $ $ 281,887