Intangible Assets (Details) - USD ($)	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Summary of finite lived Intangible assets
Intangible assets, Gross	$ 9,514,418	$ 9,467,511
Less: accumulated amortization	(9,251,599)	(9,183,103)
Intangible assets, net	262,819	284,408	$ 309,894
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	$ 946,970	$ 900,063