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Stockholders' Equity (Details) - Employee Stock Option [Member] - USD ($)		6 Months Ended	12 Months Ended
		Jun. 30, 2020	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Weighted Average Exercise Price, Outstanding, Beginning		$ 6.48	$ 6.37
Weighted Average Exercise Price, Grants		4.40	5.90
Weighted Average Exercise Price, Terminations		5.53	6.05
Weighted Average Exercise Price, Exercises			4.37
Weighted Average Exercise Price, Outstanding, Ending		6.29	$ 6.48
Weighted Average Exercise Price, Vested		6.04
Weighted average exercise price, Vested and expected to vest		$ 6.29
Aggregate Intrinsic Value, Outstanding, Beginning	[1]	$ (516,475)	$ 266,020
Aggregate Intrinsic Value, Outstanding, Ending	[1]	(655,695)	$ (516,475)
Aggregate Intrinsic Value, Vested	[1]	(229,450)
Aggregate Intrinsic Value, Vested and expected to vest	[1]	$ (655,695)
2000 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding, Beginning balance			12,500
Grants
Terminations
Exercises			(12,500)
Outstanding, Ending balance
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		255,000	270,000
Grants		7,000	26,000
Terminations		(8,000)	(26,000)
Exercises			(15,000)
Outstanding, Ending balance		254,000	255,000
Vested		165,500
Vested and expected to vest		254,000
Reserved for future grants
2017 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding, Beginning balance		133,500	111,500
Grants		37,000	25,000
Terminations		(4,000)	(3,000)
Exercises
Outstanding, Ending balance		166,500	133,500
Vested		10,000
Vested and expected to vest		166,500
Reserved for future grants		133,500
[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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