Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)	Dec. 31, 2019	Dec. 31, 2018
Statement of Financial Position [Abstract]
Accumulated depreciation on property and equipment	$ 12,948,000	$ 12,172,000
Accumulated amortization on Patents, licenses and purchased technology	$ 1,071,000	$ 1,026,000
Preferred stock, par value	$ 0.001	$ 0.001
Preferred stock, shares authorized	2,000,000	2,000,000
Preferred stock, shares issued	328,925	330,787
Preferred stock, shares outstanding	328,925	330,787
Common stock, par value	$ 0.001	$ 0.001
Common stock, shares authorized	250,000,000	250,000,000
Common stock, shares issued	17,731,893	3,270,609
Common stock, shares outstanding	17,731,893	3,270,609