Intangible Assets (Details) - USD ($)	Dec. 31, 2015	Dec. 31, 2014	Dec. 31, 2013
Summary of finite lived Intangible assets
Intangible assets, Gross	$ 9,428,689	$ 9,399,821
Less: accumulated amortization	(9,083,330)	(9,025,664)
Intangible assets, net	345,359	374,157	$ 326,109
Core Technology [Member]
Summary of finite lived Intangible assets
Intangible assets, Gross	8,567,448	8,567,448
Patents and trademarks [Member]
Summary of finite lived Intangible assets
Intangible assets, Gross	$ 861,241	$ 832,373