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Company and Summary of Significant Accounting Policies - Accounts Receivable and Concentration of Credit Risk (Details Textual) - USD ($) | 3 Months Ended | 12 Months Ended
--- | --- | ---
Mar. 31, 2020 | Mar. 31, 2019 | Dec. 31, 2019
Concentration Risk [Line Items] |  |  |
Accounts Receivable, before Allowance for Credit Loss | $ 3,706,756 |  | $ 5,106,314
Allowance for doubtful accounts receivable | $ 175,000 |  | 145,000
Bad debt expense percentage of revenues (percentage) | 1.00% | 1.00% |
Unbilled Receivables, Current | $ 270,815 |  | $ 490,405
Accounts Receivable [Member] |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, customer | 1 |  | 0
Revenue, major customer (percentage) | 12.00% |  | 10.00%
Revenue from Contract with Customer Benchmark [Member] |  |  |
Concentration Risk [Line Items] |  |  |
Concentration risk, customer | 0 | no |
Revenue, major customer (percentage) | 10.00% | 10.00% |

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- Definition Amount, before allowance for credit loss, of right to consideration from customer for product sold and service rendered in normal course of business. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 310 -SubTopic 10 -Section 45 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=118952595&loc=d3e4428-111522 + Details
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