Restructuring Costs - Schedule of Restructuring Costs (Details) - USD ($)	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Restructuring Reserve [Roll Forward]
Provisions/Additions	$ 1,104,318	$ 1,261,578
Restructuring Plan, 2013 And 2017 [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance	914,808	648,399
Provisions/Additions		1,261,578
Utilized/Paid		(995,169)
Ending Balance		914,808
Restructuring Plan, 2013, 2017 and 2019 (1) [Member]
Restructuring Reserve [Roll Forward]
Provisions/Additions	1,104,318
Utilized/Paid	(1,487,834)
Ending Balance	531,292
Severance related costs | Restructuring Plan, 2013 And 2017 [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance	461,361	648,399
Provisions/Additions		(173,265)
Utilized/Paid		(13,773)
Ending Balance		461,361
Severance related costs | Restructuring Costs Under 2019 Plan [Member]
Restructuring Reserve [Roll Forward]
Provisions/Additions	245,910
Severance related costs | Restructuring Plan, 2013, 2017 and 2019 (1) [Member]
Restructuring Reserve [Roll Forward]
Utilized/Paid	(413,472)
Ending Balance	293,799
Facility and other costs | Restructuring Plan, 2013 And 2017 [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance		0
Facility and other costs | Restructuring Plan, 2017 [Member]
Restructuring Reserve [Roll Forward]
Beginning Balance	453,447
Provisions/Additions	858,408	1,434,843
Utilized/Paid	(1,074,362)	(981,396)
Ending Balance	$ 237,493	$ 453,447