Stock Option Plans, Shares Reserved and Warrants (Details) - 2009 Equity Incentive Plan [Member] - $ / shares	9 Months Ended	12 Months Ended
	Sep. 30, 2017	Dec. 31, 2016
Number of options
Outstanding options, beginning	4,320,409
Options granted	2,506,750
Options excercised	(833)
Options canceled/expired	(227,509)
Outstanding options, ending	6,598,817	4,320,409
Exercisable options	3,373,829	2,319,963
Weighted average exercise price
Outstanding options, beginning	$ 6.06
Options granted	3.48
Options exercised	3.35
Options canceled/expired	6.23
Outstanding options, ending	5.08	$ 6.06
Exercisable options	$ 5.54
Weighted average remaining contractual life
Balance	8 years 3 months 29 days	7 years 11 months 23 days
Options granted	9 years 5 months 23 days
Exercisable	7 years 3 months 18 days