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Condensed Consolidated Balance Sheets (Parenthetical) - USD ($)
Sep. 30, 2018
Dec. 31, 2017
Statement of Financial Position [Abstract]    
Allowance for doubtful accounts (in US dollars) $ 15,890 $ 17,230
Preferred stock, par value (in US dollars per share) $ 0.10 $ 0.10
Preferred stock, shares authorized 1,000,000 1,000,000
Preferred stock, shares issued 0 0
Preferred stock, shares outstanding 0 0
Common stock, par value (in US dollars per share) $ 0.01 $ 0.01
Common stock, shares authorized 200,000,000 200,000,000
Common stock, shares issued 60,089,035 59,870,980
Treasury stock, shares 2,337,405 1,072,552