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Stockholders' Equity (Details) - Stock Option [Member] - USD ($) | 12 Months Ended
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Dec. 31, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Weighted Average Exercise Price, Outstanding, Beginning |  | $ 6.37 | $ 4.58
Weighted Average Exercise Price, Grants |  | 5.90 | 7.38
Weighted Average Exercise Price, Terminations |  | 6.05 | 6.63
Weighted Average Exercise Price, Exercises |  | 4.37 | 1.89
Weighted Average Exercise Price, Outstanding, Ending |  | 6.48 | $ 6.37
Weighted Average Exercise Price, Vested |  | 6.13 |
Weighted average exercise price, Vested and expected to vest |  | $ 6.48 |
Aggregate Intrinsic Value, Outstanding, Beginning | [1] | $ 266,020 | $ 1,513,980
Aggregate Intrinsic Value, Outstanding, Ending | [1] | (516,475) | $ 266,020
Aggregate Intrinsic Value, Vested | [1] | (65,890) |
Aggregate Intrinsic Value, Vested and expected to vest | [1] | $ (516,475) |
2000 Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding, Beginning balance |  | 12,500 | 117,500
Grants |  |  |
Terminations |  |  |
Exercises |  | (12,500) | (105,000)
Outstanding, Ending balance |  |  | 12,500
Vested |  |  |
Vested and expected to vest |  |  |
Reserved for future grants |  |  |
2010 Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding, Beginning balance |  | 270,000 | 242,500
Grants |  | 26,000 | 48,500
Terminations |  | (26,000) | (19,000)
Exercises |  | (15,000) | (2,000)
Outstanding, Ending balance |  | 255,000 | 270,000
Vested |  | 67,500 |
Vested and expected to vest |  | 255,000 |
Reserved for future grants |  | 1,000 |
2017 Plan [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award [Line Items] |  |  |
Outstanding, Beginning balance |  | 111,500 |
Grants |  | 25,000 | 122,500
Terminations |  | (3,000) | (11,000)
Exercises |  |  |
Outstanding, Ending balance |  | 133,500 | 111,500
Vested |  |  |
Vested and expected to vest |  | 133,500 |
Reserved for future grants |  | 167,500 |
[1] | Intrinsic value is the difference between the fair market value as of the date indicated and as of the date of the option grant.

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