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Stockholders' Equity - Summary of information related to stock options (Details)
 12 Months Ended
Dec. 31, 2019
$ / shares
shares
Options Outstanding, Outstanding Number of Options 2,237,438
Options Exercisable, Weighted Average Remaining Life In Years 7 years 3 months 18 days
Options Exercisable, Exercisable Number of Options 1,183,637
Exercise Price 1.24 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 1.24
Options Outstanding, Outstanding Number of Options 260,000
Options Exercisable, Weighted Average Remaining Life In Years 5 years 2 months 12 days
Options Exercisable, Exercisable Number of Options 260,000
Exercise Price 1.95 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 1.95
Options Outstanding, Outstanding Number of Options 700,281
Options Exercisable, Weighted Average Remaining Life In Years 7 years 6 months
Options Exercisable, Exercisable Number of Options 545,170
Exercise Price 2.74 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 2.74
Options Outstanding, Outstanding Number of Options 6,000
Options Exercisable, Exercisable Number of Options 0
Exercise Price 3.11 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 3.11
Options Outstanding, Outstanding Number of Options 681,572
Options Exercisable, Exercisable Number of Options 0
Exercise Price 4.00 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 4.00
Options Outstanding, Outstanding Number of Options 2,000
Options Exercisable, Weighted Average Remaining Life In Years 8 years 10 months 24 days
Options Exercisable, Exercisable Number of Options 723
Exercise Price 5.10 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.10
Options Outstanding, Outstanding Number of Options 6,000
Options Exercisable, Weighted Average Remaining Life In Years 8 years 8 months 12 days
Options Exercisable, Exercisable Number of Options 2,667
Exercise Price 5.19 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.19
Options Outstanding, Outstanding Number of Options 16,500
Options Exercisable, Weighted Average Remaining Life In Years 8 years 8 months 12 days
Options Exercisable, Exercisable Number of Options 6,875
Exercise Price 5.25 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 5.25
Options Outstanding, Outstanding Number of Options 26,668
Options Exercisable, Weighted Average Remaining Life In Years 6 years 9 months 18 days
Options Exercisable, Exercisable Number of Options 21,249
Exercise Price 6.20 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 6.20
Options Outstanding, Outstanding Number of Options 311,499
Options Exercisable, Weighted Average Remaining Life In Years 8 years 7 months 6 days
Options Exercisable, Exercisable Number of Options 224,438
Exercise Price 6.30 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 6.30
Options Outstanding, Outstanding Number of Options 60,000
Options Exercisable, Weighted Average Remaining Life In Years 8 years 6 months
Options Exercisable, Exercisable Number of Options 28,333
Exercise Price 8.72 [Member]  
Options Outstanding, Outstanding Exercise Price | $ / shares $ 8.72
Options Outstanding, Outstanding Number of Options 166,918
Options Exercisable, Weighted Average Remaining Life In Years 8 years 3 months 18 days
Options Exercisable, Exercisable Number of Options 94,182