Restructuring Costs (Details Narrative)	3 Months Ended	9 Months Ended	12 Months Ended
	Mar. 31, 2020 USD ($)	Sep. 30, 2020 position	Dec. 31, 2020 USD ($) position	Dec. 31, 2019 USD ($)	Dec. 31, 2018 USD ($)
Restructuring Cost and Reserve [Line Items]
Entity Number of Employees					86
Restructuring costs			$ 1,032,826	$ 1,104,318
Annual Expense Run Rate Reduction			$ 4,000,000.0
Annual Expense Run Rate Reduction Percentage			29.00%
Number of Positions Furloughed, COVID 19 | position			21
Number of Furloughed Positions Reinstated, COVID 19 | position			20
Restructuring Costs Under 2019 Plan [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring plan, number of positions eliminated | position		23
Restructuring Plan, 2013 And 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve					$ 914,808
Severance related costs | Restructuring Costs Under 2019 Plan [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring costs	$ 0.1		$ 76,708	245,910
Severance related costs | Restructuring Plan, 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve			239,444
Severance related costs | Restructuring Plan, 2013 And 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring Reserve					461,361
Facility Related Costs [Member] | Restructuring Plan, 2017 [Member]
Restructuring Cost and Reserve [Line Items]
Restructuring costs			956,118	858,408
Restructuring Reserve			$ 75,466	$ 237,493	$ 453,447