A summary of activity under the 2009, 2012 and 2019 Plans and related information during the year ended December 31, 2020 is as follows: (Details)	12 Months Ended
	Dec. 31, 2020 USD ($) $ / shares shares
Equity [Abstract]
Number of shares under options, beginning | shares	25,030,234
Weighted average exercise price, beginning | $ / shares	$ 4.65
Weighted average remaining contractual life	5 years 10 months 2 days
Aggregate intrinsic value, beginning | $	$ 3,668,171
Number of shares under options, granted | shares	736,500
Weighted average exercise price, granted | $ / shares	$ 1.58
Number of shares under options, exercised | shares	(1,182,195)
Weighted average exercise price, exercised | $ / shares	$ 0.23
Aggregate intrinsic value, exercised | $	$ 1,738,740
Number of shares under options, expired | shares	(386,609)
Weighted average exercise price, expired | $ / shares	$ 3.76
Number of shares under options, cancelled forfeited | shares	(416,000)
Weighted average exercise price, cancelled forfeited | $ / shares	$ 3.80
Number of shares under options, ending | shares	23,781,930
Weighted average exercise price, ending | $ / shares	$ 4.80
Weighted average remaining contractual life	5 years 2 months 12 days
Aggregate intrinsic value, ending | $	$ 152,253
Number of shares under options, vested and exercisable ending | shares	19,862,681
Weighted average exercise price, vested and exercisable ending | $ / shares	$ 5.06
Weighted average remaining contractual life, vested and exercisable	4 years 7 months 2 days
Aggregate intrinsic value, vested and exercisable ending | $	$ 117,443
Number of shares under options, unvested ending | shares	3,919,249
Weighted average exercise price, unvested ending | $ / shares	$ 3.53
Weighted average remaining contractual life, unvested	8 years 3 months 14 days
Aggregate intrinsic value, unvested ending | $	$ 34,810