Stockholders' Equity (Details Textual)				1 Months Ended							12 Months Ended
	Mar. 29, 2019 USD ($) $ / shares shares	Feb. 03, 2016 USD ($) $ / shares shares	Dec. 31, 1995 $ / shares	Nov. 20, 2018 USD ($)	Dec. 21, 2017 USD ($) $ / shares shares	Jul. 27, 2017 USD ($) $ / shares shares	Oct. 21, 2016 USD ($) $ / shares shares	Oct. 28, 2015 USD ($)	Jun. 30, 2010 shares	Jun. 30, 2000 shares	Dec. 31, 2019 USD ($) Director $ / shares shares	Dec. 31, 2018 USD ($) $ / shares shares	Dec. 31, 2017 $ / shares	Jun. 30, 2017 shares	Jun. 30, 2001 shares
Stockholders' Equity (Textual)
Potential issuance or sale of equity | $								$ 10,000,000
Gross proceeds | $	$ 9,000,000	$ 5,900,000			$ 3,050,000
Net proceeds | $	$ 8,303,000	$ 5,313,000			$ 2,734,000
Common stock shares sold	1,636,364	1,123,810			417,807
Sale of stock, per share | $ / shares	$ 5.50	$ 5.25			$ 7.30
Common stock, shares authorized											11,000,000	11,000,000
Stock option and incentive plan, description											We currently match 100% of the first 3% of each employee's salary that is contributed to the Plan and 50% of the next 2% of each employee's salary that is contributed to the Plan.
Proceeds from exercise of stock options | $											$ 3	$ 96,254
Potential issuance cost in equity securities | $				$ 20,000,000
Registration statement, description								Having raised $10,000,000 in gross proceeds under the February 2016, July 2017 and December 2017 equity transactions.
Employee Stock Option [Member]
Stockholders' Equity (Textual)
Number of directors exercised stock options | Director											1
Aggregate intrinsic value of options exercised | $											$ 46,091	$ 582,590
Weighted-average grant date fair values of options granted | $ / shares											$ 2.93	$ 3.83
Total unrecognized stock-based compensation related to non-vested stock options | $											$ 386,887
Exercise prices of options outstanding | $ / shares											$ 6.48	6.37	$ 4.58
Weighted average remaining life of unrecognized stock-based compensation related to non-vested											1 year 2 months
Exercise prices | $ / shares											$ 4.37	$ 1.89
Equity Option [Member]
Stockholders' Equity (Textual)
Stock option granted during the period											51,000
Weighted-average grant date fair values of options granted | $ / shares											$ 2.93
Share-based payment, description											Stock options covering 27,500 shares by the surrender of 19,907 shares of common stock with a fair market value of $120,172 at the time of exercise and the payment of $3 in cash.	Seven employees exercised stock options covering an aggregate of 107,000 shares, of which 51,500 of these shares were acquired for cash, resulting in total proceeds of $96,240, and 55,500 of these shares were acquired by the surrender of 14,235 shares of common stock with a fair market value of $105,785 at the time of exercise and the payment of $14 in cash.
2000 Plan [Member] | Employee Stock Option [Member]
Stockholders' Equity (Textual)
Common stock reserved for issuance under the plan
Number of stock options exercised
Stock option granted during the period
Weighted average remaining life of options outstanding											6 years 4 months
2010 Plan [Member] | Employee Stock Option [Member]
Stockholders' Equity (Textual)
Common stock reserved for issuance under the plan											1,000
Number of stock options exercised											27,500
Stock option granted during the period											26,000	48,500
Weighted average remaining life of options outstanding											6 years 4 months
2010 Plan [Member] | Employee Stock Option [Member] | Minimum [Member]
Stockholders' Equity (Textual)
Exercise prices | $ / shares											$ 5.175
2010 Plan [Member] | Employee Stock Option [Member] | Maximum [Member]
Stockholders' Equity (Textual)
Exercise prices | $ / shares											$ 7.50
2017 Plan [Member] | Employee Stock Option [Member]
Stockholders' Equity (Textual)
Common stock reserved for issuance under the plan											167,500
Stock option granted during the period											25,000	122,500
2017 Plan [Member] | Employee Stock Option [Member] | Minimum [Member]
Stockholders' Equity (Textual)
Exercise prices | $ / shares											$ 3.15
2017 Plan [Member] | Employee Stock Option [Member] | Maximum [Member]
Stockholders' Equity (Textual)
Exercise prices | $ / shares											$ 8.90
Common Stock Rights Plan [Member]
Stockholders' Equity (Textual)
Share-based payment, description			At any time after a person or group becomes an Acquiring Person and prior to the acquisition by such person or group of 50% or more of the outstanding common stock, the Board of Directors of the Company may exchange the Rights (other than Rights owned by such person or group which have become void), in whole or in part, at an exchange ratio of one share of common stock per Right (subject to adjustment).
Common stock purchase price | $ / shares			$ 70.00
Employee stock, plan description			The Rights (as amended) become exercisable and transferable apart from the common stock upon the earlier of i) 10 days following a public announcement that a person or group (Acquiring Person) has, without the prior consent of the Continuing Directors (as such term is defined in the Rights Agreement), acquired beneficial ownership of 20% or more of the outstanding common stock or ii) 10 days following commencement of a tender offer or exchange offer the consummation of which would result in ownership by a person or group of 20% or more of the outstanding common stock (the earlier of such dates being called the Distribution Date).								Our Board of Directors also has voted to authorize amendments to increase the ownership threshold for determining "Acquiring Person" status to 20%. During the second quarter of 2015, our Board of Directors also voted to authorize an amendment to remove a provision that prevented a new group of directors elected following the emergence of an Acquiring Person (an owner of more than 20% of our stock) from controlling the Rights Plan by maintaining exclusive authority over the Rights Plan with pre-existing directors.
Sale of common stock, description			The Company should consolidate or merge with any other entity and the Company were not the surviving company, or, if the Company were the surviving company, all or part of the Company's common stock were changed or exchanged into the securities of any other entity, or if more than 50% of the Company's assets or earning power were sold
Option expiry date											Sep. 19, 2022
Investor [Member]
Stockholders' Equity (Textual)
Gross proceeds | $						$ 1,050,000
Net proceeds | $						$ 1,034,000
Common stock shares issued						200,000
Closing share price | $ / shares						$ 5.25
Employee [Member] | Employee Stock Option [Member] | Minimum [Member]
Stockholders' Equity (Textual)
Exercise prices | $ / shares											$ 5.175	$ 6.81
Employee [Member] | Employee Stock Option [Member] | Maximum [Member]
Stockholders' Equity (Textual)
Exercise prices | $ / shares											$ 7.50	$ 8.43
Employee [Member] | 2000 Plan [Member] | Employee Stock Option [Member]
Stockholders' Equity (Textual)
Stock option and incentive plan, description										No less than 85% of fair market value on the date of grant in the case of non-qualified stock options.
Common stock reserved for issuance under the plan										250,000					500,000
Stock option expiration period										10 years
Stock option granted during the period											51,000
Weighted average remaining life of options exercisable											4 years 10 months
Option expiry date										Feb. 28, 2010
Employee [Member] | 2010 Plan [Member] | Employee Stock Option [Member]
Stockholders' Equity (Textual)
Common stock reserved for issuance under the plan									300,000
Stock option expiration period									10 years
Stock option granted during the period											171,000
Weighted average remaining life of options exercisable											4 years 10 months
Share-based payment, description									The 2010 Plan expires in June 2020, after which date no further options can be granted under the 2010 Plan.
Option expiry date									Jun. 30, 2020
Employee [Member] | 2017 Plan [Member] | Employee Stock Option [Member]
Stockholders' Equity (Textual)
Common stock reserved for issuance under the plan														300,000
Stock option granted during the period											51,000
Weighted average remaining life of options exercisable											4 years 10 months
Private Placement [Member]
Stockholders' Equity (Textual)
Gross proceeds | $							$ 3,464,000
Net proceeds | $							$ 3,161,000
Common stock shares sold							659,880
Closing share price | $ / shares							$ 5.25