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Stock-Based Compensation - Shares Authorized Under Stock Option Plans by Exercise Price Range (Details)	12 Months Ended
	Dec. 31, 2019 $ / shares shares
Number of options, outstanding	589,125
Weighted average remaining contractual life, outstanding options	7 years 3 months 19 days
Number of options, exercisable	499,125
Weighted average remaining contractual life, exercisable options	6 years 10 months 25 days
Exercise Price Range One [Member]
Exercise price range, lower limit | $ / shares	$ 0.01
Exercise price range, upper limit | $ / shares	$ 3.49
Number of options, outstanding	470,313
Weighted average remaining contractual life, outstanding options	8 years 4 months 24 days
Number of options, exercisable	380,313
Weighted average remaining contractual life, exercisable options	8 years 1 month 6 days
Exercise Price Range Two [Member]
Exercise price range, lower limit | $ / shares	$ 3.50
Exercise price range, upper limit | $ / shares	$ 4.99
Number of options, outstanding	66,875
Weighted average remaining contractual life, outstanding options	4 years 3 months 19 days
Number of options, exercisable	66,875
Weighted average remaining contractual life, exercisable options	4 years 3 months 19 days
Exercise Price Range Three [Member]
Exercise price range, lower limit | $ / shares	$ 5.00
Exercise price range, upper limit | $ / shares	$ 6.49
Number of options, outstanding
Weighted average remaining contractual life, outstanding options	0 years
Number of options, exercisable
Weighted average remaining contractual life, exercisable options	0 years
Exercise Price Range Four [Member]
Exercise price range, lower limit | $ / shares	$ 6.50
Exercise price range, upper limit | $ / shares	$ 7.99
Number of options, outstanding	8,437
Weighted average remaining contractual life, outstanding options	1 year 9 months 18 days
Number of options, exercisable	8,437
Weighted average remaining contractual life, exercisable options	1 year 9 months 18 days
Exercise Price Range Five [Member]
Exercise price range, lower limit | $ / shares	$ 8.00
Exercise price range, upper limit | $ / shares	$ 9.99
Number of options, outstanding	2,500
Weighted average remaining contractual life, outstanding options	1 year 4 months 24 days
Number of options, exercisable	2,500
Weighted average remaining contractual life, exercisable options	1 year 4 months 24 days
Exercise Price Range Six [Member]
Exercise price range, lower limit | $ / shares	$ 10.00
Exercise price range, upper limit | $ / shares	$ 19.99
Number of options, outstanding	39,750
Weighted average remaining contractual life, outstanding options	1 year
Number of options, exercisable	39,750
Weighted average remaining contractual life, exercisable options	1 year
Exercise Price Range Seven [Member]
Exercise price range, lower limit | $ / shares	$ 20.00
Exercise price range, upper limit | $ / shares	$ 24.99
Number of options, outstanding	1,250
Weighted average remaining contractual life, outstanding options	1 month 6 days
Number of options, exercisable	1,250
Weighted average remaining contractual life, exercisable options	1 month 6 days

X

- Definition

The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (g)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(iii)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(i)-(ii)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

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-Publisher FASB
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-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

Weighted average remaining contractual term of exercisable stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
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-Section 50
-Paragraph 2
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Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
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-SubTopic 10
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