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Capital Stock, Stock Plans and Stock-Based Compensation (Details Narrative) - USD ($) |  |  |  | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | --- | ---
Jul. 20, 2021 | May 04, 2021 | Jul. 27, 2017 | Sep. 30, 2021 | Jun. 30, 2021 | Mar. 31, 2021 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2018 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, par value |  |  |  | $ 0.001 |  |  |  |  |  | $ 0.001 |  |  | $ 0.001
Weighted average term for unrecognized and unvested option to be recognized |  |  |  |  |  |  |  |  |  | 2 years 10 months 24 days |  |  |
Shares issued |  |  |  | $ 116,000 | $ 109,000 | $ 79,000 | $ 62,000 | $ 56,000 | $ 48,000 |  |  |  |
Selling, General and Administrative Expense |  |  |  | 3,348,000 |  |  | $ 3,308,000 |  |  | $ 9,550,000 | $ 8,935,000 |  |
Subscription Agreements [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock |  |  |  |  |  |  |  |  |  | 1,000,000 |  |  |
Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Selling, General and Administrative Expense |  |  |  |  |  |  |  |  |  | $ 343,000,000 |  |  |
Ferguson Stock Option [Member] | Second Milestone [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Options to purchase shares of common stock |  |  | 30,000 |  |  |  |  |  |  |  |  |  |
Ferguson Stock Option [Member] | Third Milestone [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Options to purchase shares of common stock |  |  | 60,000 |  |  |  |  |  |  |  |  |  |
Robert Ferguson [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock upon exercise of options |  |  |  |  |  |  |  |  |  |  |  | 10,000 |
Unrecognized compensation cost related to unvested options consultant |  |  |  | $ 262,000 |  |  |  |  |  | $ 262,000 |  |  |
Remaining stock option |  |  |  | 90,000 |  |  |  |  |  | 90,000 |  |  |
Employee and Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Unrecognized compensation cost related to unvested options consultant |  |  |  | $ 420,000 |  |  |  |  |  | $ 420,000 |  |  |
2003 Stock Option Plan [Member] | Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Shares issued |  |  |  |  |  |  |  |  |  | $ 42,436 |  |  |
2003 Stock Option Plan [Member] | Dr.Louis Cent of Anti [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of stock option shares granted | 10,000 |  |  |  |  |  |  |  |  |  |  |  |
Common stock, par value | $ 0.001 |  |  |  |  |  |  |  |  |  |  |  |
Contractual term | 10 years |  |  |  |  |  |  |  |  |  |  |  |
Annual vesting, description | one-fourth vesting annually over a four-year period |  |  |  |  |  |  |  |  |  |  |  |
Stock options, exercise price | $ 5.93 |  |  |  |  |  |  |  |  |  |  |  |
2003 Stock Option Plan [Member] | Board of Directors Chairman [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of stock option shares granted |  | 6,000 |  |  |  |  |  |  |  |  |  |  |
Contractual term |  | 10 years |  |  |  |  |  |  |  |  |  |  |
Stock options, exercise price |  | $ 7.50 |  |  |  |  |  |  |  |  |  |  |
Vesting period |  | 6 months |  |  |  |  |  |  |  |  |  |  |
2017 Stock Option Plan [Member] | Consultant [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Number of stock option shares granted |  |  | 100,000 |  |  |  |  |  |  |  |  |  |
Stock options, exercise price |  |  | $ 3.65 |  |  |  |  |  |  |  |  |  |
Stock Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Issuance of common stock from casless exercise |  |  |  |  |  |  |  |  |  | 290 |  |  |
Stock Plan [Member] | Common Stock [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |
Stock options, exercise price |  |  |  |  |  |  |  |  |  | $ 3.15 |  |  |
Number of stock option purchased |  |  |  |  |  |  |  |  |  | 500 |  |  |

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