Restructuring Costs (Details Narrative)	3 Months Ended	9 Months Ended	12 Months Ended
	Sep. 30, 2013 employee	Sep. 30, 2019 position	Dec. 31, 2019 USD ($) employee	Dec. 31, 2018 USD ($)	Dec. 31, 2017 USD ($)
Restructuring Cost and Reserve [Line Items]
Restructuring plan, number of positions eliminated | employee			23
Entity Number of Employees				86
Restructuring costs			$ 1,104,318	$ 1,261,578
Restructuring Costs Under 2019 Plan [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring plan, number of positions eliminated | position		23
Restructuring Costs Under the 2013 Plan
Restructuring Cost and Reserve [Line Items]
Restructuring plan, number of positions eliminated | employee	100
Restructuring Plan, 2013 And 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring costs				1,261,578
Restructuring Reserve				914,808	$ 648,399
Severance related costs | Restructuring Costs Under 2019 Plan [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring costs			245,910
Severance related costs | Restructuring Costs Under the 2013 Plan
Restructuring Cost and Reserve [Line Items]
Expected cost remaining			300,000
Severance related costs | Restructuring Plan, 2013 And 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring costs				(173,265)
Restructuring Reserve				461,361	648,399
Facility Related Costs [Member] | Restructuring Plan, 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring costs			858,408	1,434,843
Restructuring Reserve			$ 237,493	$ 453,447
Facility Related Costs [Member] | Restructuring Plan, 2013 And 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve					$ 0