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Stockholders' Equity (Details) - Employee Stock Option [Member] - USD ($)		12 Months Ended
		Dec. 31, 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		5.03	5.90
Weighted Average Exercise Price, Terminations		5.45	6.05
Weighted Average Exercise Price, Exercises		3.15	4.37
Weighted Average Exercise Price, Outstanding, Ending		6.38	$ 6.48
Weighted Average Exercise Price, Vested		6.31
Weighted average exercise price, Vested and expected to vest		$ 6.38
Aggregate Intrinsic Value, Outstanding, Beginning	[1]	$ (516,475)	$ 266,020
Aggregate Intrinsic Value, Outstanding, Ending	[1]	(180,038)	$ (516,475)
Aggregate Intrinsic Value, Vested	[1]	(59,290)
Aggregate Intrinsic Value, Vested and expected to vest	[1]	$ (180,038)
2017 Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Outstanding, Beginning balance		133,500	111,500
Grants		93,000	25,000
Terminations		(50,000)	(3,000)
Exercises
Outstanding, Ending balance		176,500	133,500
Vested		10,000
Vested and expected to vest		176,500
Reserved for future grants		123,500
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		(12,000)	(26,000)
Exercises		(12,500)	(15,000)
Outstanding, Ending balance		237,500	255,000
Vested		156,000
Vested and expected to vest		237,500
Reserved for future grants
[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 (which is equal to the option exercise price).

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Aggregate number of common shares reserved for future issuance.

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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