Stockholders' Equity (Details) - Stock Option [Member] - USD ($)		12 Months Ended
		Dec. 31, 2019	Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted Average Exercise Price, Outstanding, Beginning		$ 6.37	$ 4.58
Weighted Average Exercise Price, Grants		5.90	7.38
Weighted Average Exercise Price, Terminations		6.05	6.63
Weighted Average Exercise Price, Exercises		4.37	1.89
Weighted Average Exercise Price, Outstanding, Ending		6.48	$ 6.37
Weighted Average Exercise Price, Vested		6.13
Weighted average exercise price, Vested and expected to vest		$ 6.48
Aggregate Intrinsic Value, Outstanding, Beginning	[1]	$ 266,020	$ 1,513,980
Aggregate Intrinsic Value, Outstanding, Ending	[1]	(516,475)	$ 266,020
Aggregate Intrinsic Value, Vested	[1]	(65,890)
Aggregate Intrinsic Value, Vested and expected to vest	[1]	$ (516,475)
2000 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding, Beginning balance		12,500	117,500
Grants
Terminations
Exercises		(12,500)	(105,000)
Outstanding, Ending balance			12,500
Vested
Vested and expected to vest
Reserved for future grants
2010 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding, Beginning balance		270,000	242,500
Grants		26,000	48,500
Terminations		(26,000)	(19,000)
Exercises		(15,000)	(2,000)
Outstanding, Ending balance		255,000	270,000
Vested		67,500
Vested and expected to vest		255,000
Reserved for future grants		1,000
2017 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding, Beginning balance		111,500
Grants		25,000	122,500
Terminations		(3,000)	(11,000)
Exercises
Outstanding, Ending balance		133,500	111,500
Vested
Vested and expected to vest		133,500
Reserved for future grants		167,500

[1] Intrinsic value is the difference between the fair market value as of the date indicated and as of the date of the option grant.