Stock Option Plans (Details Narrative) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Shares available for grant	104,372	44,875
Cash settlement of stock options	$ 1,644,118	$ 1,687,782
Shares related to settlement of stock options	1,687,782
Weighted average remaining contractual term	6 years
Stock-based compensation	$ 1,259,079	$ 968,467
Unrecognized compensation cost	$ 1,853,873
Unrecognized compensation cost recognition period	3 years
Weighted average fair value at the date of grant	$ 6.59	$ 5.88
Aggregate intrinsic value of outstanding options	$ 14,681,187
Aggregate intrinsic value of exercisable options	10,974,625
Aggregate intrinsic value of options exercised	$ 1,743,568
Employee Plan
Vesting term	Options granted under the 2012 Employee Plan vest 25% one day after the first anniversary of the grant date and 25% one day after each of the next three anniversaries. As of December 31, 2020, the number of shares available for grant under the 2012 Employee Plan was 79,375. Under the terms of the 2012 Employee Plan, no option may be granted under that plan after the tenth anniversary of the adoption of the plan. Options outstanding under the Company’s 2002 Employee Stock Option Plan have the same vesting schedule as the 2012 Employee Plan.
Shares available for grant	79,375
2005 Director Plan
Vesting term	The Initial Option vested 25% on the date of grant and 25% on the anniversary of the grant date in each of the following 3 years. Each Annual Option became fully exercisable one day after the date of grant. The exercise price of each option granted equaled the fair market value of the Common Stock on the date the option was granted, and expired ten (10) years from the date of grant.
Shares authorized under plan	180,000
Shares offered under initial option	5,000
Shares offered under annual option	5,000
2017 Director Plan
Vesting term	The Initial Option vests 25% on the date of grant and 25% on the anniversary of the grant date in each of the following 3 years. Each Annual Option becomes fully exercisable one day after the date of grant. The exercise price of each option granted equals the fair market value of the Common Stock on the date the option is granted, and expires ten (10) years from the date of grant.
Shares available for grant	25,000
Shares authorized under plan	50,000
Shares offered under initial option	5,000
Shares offered under annual option	5,000