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Stock Option Plans - Schedule of Options Activity (Details) - $ / shares | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017
2015 Equity Incentive Plan [Member] |  |  |
Beginning balance, Options, Outstanding options | 5,525,405 | 5,112,967 | 4,443,000
Options, Granted, fair value | 1,490,490 | 1,497,300 | 1,077,000
Options, Exercised | (303,129) | (360,853) | (81,719)
Options, Expired/forfeited | (917,371) | (724,009) | (325,314)
Ending balance, Options, Outstanding options | 5,795,395 | 5,525,405 | 5,112,967
Options, Non-vested options | 2,342,706 | 2,355,719 | 2,641,832
Beginning balance, Weighted- average exercise price, Outstanding options | $ 8.08 | $ 9.07 | $ 4.94
Weighted- average exercise price, Granted, fair value | 6.53 | 12.95 | 14.31
Weighted- average exercise price, Exercised | 3.20 | 6.22 | 4.22
Weighted- average exercise price, Expired/forfeited | 7.95 | 10.65 | 5.52
Ending balance, Options, Outstanding options | 7.96 | 8.08 | 9.07
Weighted- average exercise price, Non-vested options | $ 8.78 | $ 10.41 | $ 8.21
2005 Equity Incentive Plan [Member] |  |  |
Beginning balance, Options, Outstanding options | 316,400 | 316,760 | 328,560
Options, Expired/forfeited | (56,400) | (360) | (11,800)
Ending balance, Options, Outstanding options | 260,000 | 316,400 | 316,760
Beginning balance, Weighted- average exercise price, Outstanding options | $ 14.15 | $ 14.31 | $ 14.57
Weighted- average exercise price, Expired/forfeited | 19.75 | 150.00 | 21.53
Ending balance, Options, Outstanding options | $ 12.94 | $ 14.15 | $ 14.31

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- Definition For presentations that combine terminations, the number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan or that expired. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(3)-(4) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References No definition available. + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options. + References No definition available. + Details
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