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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%