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Stockholders' Equity (Details Textual) |  |  | 1 Months Ended | 12 Months Ended |  |  |  |  |
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Mar. 29, 2019 USD ($) $ / shares shares | Feb. 03, 2016 USD ($) $ / shares shares | Nov. 20, 2018 USD ($) | Dec. 21, 2017 USD ($) $ / shares shares | Jul. 27, 2017 USD ($) $ / shares shares | Oct. 21, 2016 USD ($) $ / shares shares | Oct. 28, 2015 USD ($) | Jun. 30, 2010 shares | Jun. 30, 2000 shares | Sep. 30, 1995 $ / shares | Dec. 31, 2020 USD ($) $ / shares shares | Dec. 31, 2019 USD ($) Director $ / shares shares | Jun. 10, 2020 shares | Dec. 31, 2018 $ / shares | Jun. 14, 2018 shares | Jun. 30, 2017 shares | Jun. 30, 2001 shares
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Potential issuance or sale of equity | $ |  |  |  |  |  |  | $ 10,000,000 |  |  |  |  |  |  |  |  |  |
Gross proceeds | $ | $ 9,000,000 | $ 5,900,000 |  | $ 3,050,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Net proceeds | $ | $ 8,303,000 | $ 5,313,000 |  | $ 2,734,000 |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock shares sold | 1,636,364 | 1,123,810 |  | 417,807 |  |  |  |  |  |  |  |  |  |  |  |  |
Sale of stock, per share | $ / shares | $ 5.50 | $ 5.25 |  | $ 7.30 |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized |  |  |  |  |  |  |  |  |  |  | 15,000,000 | 11,000,000 |  |  |  |  |
Stock option and incentive plan, description |  |  |  |  |  |  |  |  |  |  | We currently match 100% of the first 3% of each employee's salary that is contributed to the Plan and 50% of the next 2% of each employee's salary that is contributed to the Plan. |  |  |  |  |  |
Proceeds from exercise of stock options | $ |  |  |  |  |  |  |  |  |  |  | $ 9 | $ 3 |  |  |  |  |
Potential issuance cost in equity securities | $ |  |  | $ 20,000,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |
Registration statement, description |  |  |  |  |  |  | Having raised $10,000,000 in gross proceeds under the February 2016, July 2017 and December 2017 equity transactions. |  |  |  |  |  |  |  |  |  |
Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Number of directors exercised stock options | Director |  |  |  |  |  |  |  |  |  |  |  | 1 |  |  |  |  |
Aggregate intrinsic value of options exercised | $ |  |  |  |  |  |  |  |  |  |  | $ 35,375 | $ 46,091 |  |  |  |  |
Weighted-average grant date fair values of options granted | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 2.47 | $ 2.93 |  |  |  |  |
Total unrecognized stock-based compensation related to non-vested stock options | $ |  |  |  |  |  |  |  |  |  |  | $ 212,490 |  |  |  |  |  |
Exercise prices of options outstanding | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 6.38 | 6.48 |  | $ 6.37 |  |  |
Weighted average remaining life of unrecognized stock-based compensation related to non-vested |  |  |  |  |  |  |  |  |  |  | 1 year 3 months |  |  |  |  |  |
Exercise prices | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 3.15 | $ 4.37 |  |  |  |  |
Equity Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock option and incentive plan, description |  |  |  |  |  |  |  |  |  |  | From February 2016 to March 2019, we issued the aggregate of 4,037,861 shares of common stock in five different transactions raising gross proceeds of approximately $22,464,000. These funds are essential to funding our business growth plans. |  |  |  |  |  |
Stock option granted during the period |  |  |  |  |  |  |  |  |  |  | 100,000 |  |  |  |  |  |
Weighted-average grant date fair values of options granted | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 2.47 |  |  |  |  |  |
Share-based payment, description |  |  |  |  |  |  |  |  |  |  | Stock options covering 12,500 shares by the surrender of 6,583 stock options with a fair market value of the underlying common stock equal to $39,366 at the time of exercise and $9 in cash. | Stock options covering 27,500 shares by the surrender of 19,907 stock options with a fair market value of the underlying common stock equal to $120,172 at the time of exercise and $3 in cash. |  |  |  |  |
Equity Option [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized |  |  |  |  |  |  |  |  |  |  |  |  | 11,000,000 |  | 8,000,000 |  |
Equity Option [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock, shares authorized |  |  |  |  |  |  |  |  |  |  |  |  | 15,000,000 |  | 11,000,000 |  |
Investor [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Gross proceeds | $ |  |  |  |  | $ 1,050,000 |  |  |  |  |  |  |  |  |  |  |  |
Net proceeds | $ |  |  |  |  | $ 1,034,000 |  |  |  |  |  |  |  |  |  |  |  |
Common stock shares issued |  |  |  |  | 200,000 |  |  |  |  |  |  |  |  |  |  |  |
Closing share price | $ / shares |  |  |  |  | $ 5.25 |  |  |  |  |  |  |  |  |  |  |  |
Private Placement [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Gross proceeds | $ |  |  |  |  |  | $ 3,464,000 |  |  |  |  |  |  |  |  |  |  |
Net proceeds | $ |  |  |  |  |  | $ 3,161,000 |  |  |  |  |  |  |  |  |  |  |
Common stock shares sold |  |  |  |  |  | 659,880 |  |  |  |  |  |  |  |  |  |  |
Closing share price | $ / shares |  |  |  |  |  | $ 5.25 |  |  |  |  |  |  |  |  |  |  |
Common Stock Rights Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based payment, description |  |  |  |  |  |  |  |  |  | At any time after a person or group becomes an Acquiring Person and prior to the acquisition by such person or group of 50% or more of the outstanding common stock, the Board of Directors of the Company may exchange the Rights (other than Rights owned by such person or group which have become void), in whole or in part, at an exchange ratio of one share of common stock per Right (subject to adjustment). At any time prior to 14 days following the date that any person or group becomes an Acquiring Person (subject to extension by the Board of Directors), the Board of Directors of the Company may redeem the then outstanding Rights in whole, but not in part, at a price of $0.005 per Right, subject to adjustment. |  |  |  |  |  |  |
Common stock purchase price | $ / shares |  |  |  |  |  |  |  |  |  | $ 70.00 |  |  |  |  |  |  |
Employee stock, plan description |  |  |  |  |  |  |  |  |  | The Rights (as amended) become exercisable and transferable apart from the common stock upon the earlier of i) 10 days following a public announcement that a person or group (Acquiring Person) has, without the prior consent of the Continuing Directors (as such term is defined in the Rights Agreement), acquired beneficial ownership of 20% or more of the outstanding common stock or ii) 10 days following commencement of a tender offer or exchange offer the consummation of which would result in ownership by a person or group of 20% or more of the outstanding common stock (the earlier of such dates being called the Distribution Date). | Our Board of Directors also has voted to authorize amendments to increase the ownership threshold for determining "Acquiring Person" status to 20%. During the second quarter of 2015, our Board of Directors also voted to authorize an amendment to remove a provision that prevented a new group of directors elected following the emergence of an Acquiring Person (an owner of more than 20% of our stock) from controlling the Rights Plan by maintaining exclusive authority over the Rights Plan with pre-existing directors. |  |  |  |  |  |
Sale of common stock, description |  |  |  |  |  |  |  |  |  | The Company should consolidate or merge with any other entity and the Company were not the surviving company, or, if the Company were the surviving company, all or part of the Company's common stock were changed or exchanged into the securities of any other entity, or if more than 50% of the Company's assets or earning power were sold |  |  |  |  |  |  |
Option expiry date |  |  |  |  |  |  |  |  |  |  | Sep. 19, 2022 |  |  |  |  |  |
2010 Plan [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock option granted during the period |  |  |  |  |  |  |  |  |  |  | 7,000 | 26,000 |  |  |  |  |
2010 Plan [Member] | Employee Stock Option [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise prices of options outstanding | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 4.00 |  |  |  |  |  |
Exercise prices | $ / shares |  |  |  |  |  |  |  |  |  |  | 4.00 |  |  |  |  |  |
2010 Plan [Member] | Employee Stock Option [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise prices of options outstanding | $ / shares |  |  |  |  |  |  |  |  |  |  | 8.90 |  |  |  |  |  |
Exercise prices | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 6.37 | $ 7.50 |  |  |  |  |
2010 Plan [Member] | Employee [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  | 300,000 |  |  | 237,500 |  |  |  |  |  |
Stock option expiration period |  |  |  |  |  |  |  | 10 years |  |  |  |  |  |  |  |  |
Weighted average remaining life of options exercisable |  |  |  |  |  |  |  |  |  |  | 5 years 9 months |  |  |  |  |  |
Option expiry date |  |  |  |  |  |  |  | Jun. 30, 2020 |  |  |  |  |  |  |  |  |
2017 Plan [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  |  |  |  | 123,500 |  |  |  |  |  |
Stock option granted during the period |  |  |  |  |  |  |  |  |  |  | 93,000 | 25,000 |  |  |  |  |
2017 Plan [Member] | Employee Stock Option [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise prices of options outstanding | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 3.15 |  |  |  |  |  |
Exercise prices | $ / shares |  |  |  |  |  |  |  |  |  |  | 4.00 | $ 5.175 |  |  |  |  |
2017 Plan [Member] | Employee Stock Option [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Exercise prices of options outstanding | $ / shares |  |  |  |  |  |  |  |  |  |  | $ 8.90 |  |  |  |  |  |
Exercise prices | $ / shares |  |  |  |  |  |  |  |  |  |  |  | $ 7.50 |  |  |  |  |
2017 Plan [Member] | Employee [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  |  |  |  | 176,500 |  |  |  |  |  |
Weighted average remaining life of options exercisable |  |  |  |  |  |  |  |  |  |  | 5 years 9 months |  |  |  |  |  |
2000 Plan [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock option granted during the period |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
2000 Plan [Member] | Employee [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock option and incentive plan, description |  |  |  |  |  |  |  |  | No less than 85% of fair market value on the date of grant in the case of non-qualified stock options. |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  |  | 250,000 |  |  |  |  |  |  |  | 500,000
Stock option expiration period |  |  |  |  |  |  |  |  | 10 years |  |  |  |  |  |  |  |
Option expiry date |  |  |  |  |  |  |  |  | Feb. 28, 2010 |  |  |  |  |  |  |  |
All Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Weighted average remaining life of options exercisable |  |  |  |  |  |  |  |  |  |  | 5 years 6 months |  |  |  |  |  |
All Plan [Member] | Employee [Member] | Employee Stock Option [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity (Textual) |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Common stock reserved for issuance under the plan |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 300,000 |
Stock option granted during the period |  |  |  |  |  |  |  |  |  |  | 100,000 | 51,000 |  |  |  |  |

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