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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2020
Class Of Stock [Line Items] |
Schedule of Assumptions for Fair Value of Option Grant | In connection with the stock option grants during 2020 and 2019, the fair value of each option grant was estimated on the date of the grant using the Black-Scholes option pricing model with the following assumptions:
|  | 2020 |  |  | 2019 |
Risk-free interest rate |  | 0% - 2% |  |  | 2% - 3% |
Expected life (years) |  |  | 6.8 |  |  |  | 6.8 |
Expected volatility |  | 74% |  |  | 73% |
Expected dividend yield |  | Zero |  |  | Zero |
Schedule of Changes in Common Stock Options | The following summarizes the changes in common stock options for 2020 and 2019:
|  | 2020 |  |  | 2019 |
|  | Options |  |  | Weighted Average Exercise Price |  |  | Options |  |  | Weighted Average Exercise Price |
Outstanding at beginning of year |  |  | 3,611,850 |  |  | $ | 0.51 |  |  |  | 4,303,900 |  |  | $ | 0.75 |
Granted |  |  | 474,750 |  |  | $ | 1.62 |  |  |  | 649,850 |  |  | $ | 0.74 |
Exercised |  |  | (383,350 | ) |  | $ | 0.46 |  |  |  | (31,276 | ) |  | $ | 0.45 |
Expired |  |  | (20,000 | ) |  | $ | 0.83 |  |  |  | (765,000 | ) |  | $ | 2.00 |
Forfeited |  |  | (167,025 | ) |  | $ | 1.15 |  |  |  | (545,624 | ) |  | $ | 0.61 |
Outstanding at end of year |  |  | 3,516,225 |  |  | $ | 0.63 |  |  |  | 3,611,850 |  |  | $ | 0.51 |
Options exercisable at year end |  |  | 2,566,100 |  |  | $ | 0.47 |  |  |  | 2,157,336 |  |  | $ | 0.46 |
Weighted-average fair value of options granted during the year |  |  |  |  |  | $ | 1.10 |  |  |  |  |  |  | $ | 0.50 |
Schedule of Information about All Stock Options Outstanding | The following table summarizes information about all stock options outstanding at December 31, 2020:
Exercise price |  | Options Outstanding |  |  | Weighted Average Remaining Life (years) |  |  | Weighted Average Exercise Price |  |  | Number Exercisable |  |  | Weighted Average Remaining Life (years) |  |  | Weighted Average Exercise Price |
$ 0.24 to $ 0.40 |  |  | 100,000 |  |  |  | 6.4 |  |  | $ | 0.34 |  |  |  | 75,000 |  |  |  | 6.2 |  |  | $ | 0.31 |
$ 0.42 to $ 0.48 |  |  | 2,357,600 |  |  |  | 6.0 |  |  | $ | 0.45 |  |  |  | 2,279,350 |  |  |  | 5.9 |  |  | $ | 0.45 |
$ 0.53 to $ 1.00 |  |  | 758,625 |  |  |  | 7.9 |  |  | $ | 0.77 |  |  |  | 211,750 |  |  |  | 5.9 |  |  | $ | 0.73 |
$ 1.41 to $ 2.77 |  |  | 300,000 |  |  |  | 9.5 |  |  | $ | 1.76 |  |  |  | — |  |  | N/A |  |  | N/A |
|  |  | 3,516,225 |  |  |  | 6.7 |  |  | $ | 0.63 |  |  |  | 2,566,100 |  |  |  | 5.9 |  |  | $ | 0.47 |
Other Options Issued [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
Other Options |  | 2020 |  |  | 2019 |
Options outstanding, beginning of year |  |  | 265,000 |  |  |  | 625,000 |
Options issued |  |  | 90,000 |  |  |  | 265,000 |
Options exercised |  |  | (10,625 | ) |  |  | — |
Options expired |  |  | — |  |  |  | (625,000 | )
Options outstanding, end of year |  |  | 344,375 |  |  |  | 265,000 |
2003 Stock Option and Appreciation Rights Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2003 Plan |  | 2020 |  |  | 2019 |
Options outstanding, beginning of year |  |  | 20,000 |  |  |  | 310,000 |
Options expired |  |  | (20,000 | ) |  |  | (140,000 | )
Options forfeited |  |  | — |  |  |  | (150,000 | )
Options outstanding, end of year |  |  | — |  |  |  | 20,000 |
2010 Non-Qualified Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2010 Plan |  | 2020 |  |  | 2019 |
Options outstanding, beginning of year |  |  | 975,000 |  |  |  | 915,000 |
Options granted |  |  | 125,000 |  |  |  | 60,000 |
Options outstanding, end of year |  |  | 1,100,000 |  |  |  | 975,000 |
2016 Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2016 Plan |  | 2020 |  |  | 2019 |
Options outstanding, beginning of year |  |  | 2,351,850 |  |  |  | 2,453,900 |
Options granted |  |  | 259,750 |  |  |  | 324,850 |
Options exercised |  |  | (372,725 | ) |  |  | (31,276 | )
Options forfeited |  |  | (167,025 | ) |  |  | (395,624 | )
Options outstanding, end of year |  |  | 2,071,850 |  |  |  | 2,351,850 |

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