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A summary of option activity under the 2009, 2012 and 2019 Plans and related information during the nine months ended September 30, 2020 is as follows (Details) - USD ($)	3 Months Ended		9 Months Ended		12 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares under options, exercised	(517,891)	(55,236)	(1,182,195)	(331,619)
Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of shares under options, beginning			25,030,234
Weighted average exercise price, beginning			$ 4.65
Weighted average remaining contractual life			5 years 5 months 15 days		5 years 10 months 2 days
Aggregate intrinsic value, beginning			$ 3,668,171
Number of shares under options, granted			736,500
Weighted average exercise price, granted			$ 1.58
Number of shares under options, exercised			(1,182,195)
Weighted average exercise price, exercised			$ 0.23
Aggregate intrinsic value, exercised			$ 1,738,740
Number of shares under options, expired			(361,109)
Weighted average exercise price, expired			$ 3.66
Number of shares under options, cancelled forfeited			(330,250)
Weighted average exercise price, cancelled forfeited			$ 3.69
Number of shares under options, ending	23,893,180		23,893,180		25,030,234
Weighted average exercise price, ending	$ 4.80		$ 4.80		$ 4.65
Aggregate intrinsic value, ending	$ 379,535		$ 379,535		$ 3,668,171
Number of shares under options, vested and exercisable ending	19,827,306		19,827,306
Weighted average exercise price, vested and exercisable ending	$ 5.06		$ 5.06
Weighted average remaining contractual life, vested and exercisable			4 years 9 months 29 days
Aggregate intrinsic value, vested and exercisable ending	$ 218,370		$ 218,370
Number of shares under options, unvested ending	4,065,874		4,065,874
Weighted average exercise price, unvested	$ 3.55		$ 3.55
Weighted average remaining contractual life in years, unvested			8 years 6 months 10 days
Aggregate intrinsic value, unvested	$ 161,165		$ 161,165

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