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Stockholders' Equity (Details) - Warrant [Member] - $ / shares
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Summary of all stock option plans        
Number of Shares/Warrants, Options Outstanding, Beginning Balance 464,073 3,335,073 828,573  
Warrants, Issued (Prefunded) 3,600,000    
Warrants, Issued (Purchase) 4,313,676   2,575,000  
Warrants, Expired/forfeited (384,073) (2,591,000) (40,000)  
Number of Shares, Options Exercised (80,000) (280,000) (28,500)  
Number of Shares/Warrants, Options Outstanding, Ending Balance 7,913,676 464,073 3,335,073 828,573
Weighted Average Exercise Price, Options Outstanding, Beginning Balance $ 3.02 $ 4.45 $ 2.39  
Weighted Average Exercise Price, Issued (Prefunded) 0.01    
Weighted Average Exercise Price, Issued (Purchase) 1.12   5.09  
Weighted Average Exercise Price,Options Expired/forfeited 3.13 5.06 3.98  
Weighted Average Exercise Price, Options Exercised 2.00 1.30 2.85  
Weighted Average Exercise Price, Options Outstanding, Ending Balance $ 0.62 $ 3.02 $ 4.45 $ 2.39
Weighted Average Remaining Contractual Life, Outstanding and exercisable 5 years 1 month 17 days 2 months 9 days 11 months 5 days 2 years 22 days