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The following summarizes the stock option activity for the six months ended June 30, 2021 below: (Details)
6 Months Ended
Jun. 30, 2021
$ / shares
shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Total outstanding and vested and expected to vest at beginning 6,508,296
Total outstanding and vested and expected to vest at ending 6,113,866
Vested at ending 6,108,933
2009 Equity Incentive Plan [Member]  
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]  
Total outstanding and vested and expected to vest at beginning 6,508,296
Options outstanding, weighted average exercise price, beginning balance | $ / shares $ 4.29
Options outstanding, weighted average remaining contractual term at beginning 5 years 7 months 6 days
Options canceled/expired (394,430)
Options canceled/expired, weighted average exercise price | $ / shares $ 3.99
Total outstanding and vested and expected to vest at ending 6,113,866
Options outstanding, weighted average exercise price, ending balance | $ / shares $ 4.31
Options outstanding, weighted average remaining contractual term at ending 5 years 1 month 24 days
Vested at ending 6,108,933
Option vested, weighted average exercise price at ending | $ / shares $ 4.31
Options vested, weighted average remaining contractual term at ending 5 years 1 month 24 days