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Financial Information About Segments - Information About Results of Operations for Each Segment (Details) - USD ($)
3 Months Ended 12 Months Ended
Dec. 31, 2017
Sep. 30, 2017
Jun. 30, 2017
Mar. 31, 2017
Dec. 31, 2016
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Dec. 31, 2017
Dec. 31, 2016
Segment Reporting Information [Line Items]                    
Technology Development revenue $ 5,148,000 $ 4,591,000 $ 4,602,000 $ 4,235,000 $ 4,509,000 $ 4,118,000 $ 4,047,000 $ 3,607,000 $ 18,576,383 $ 16,280,582
Products and Licensing revenue 8,067,000 7,052,000 6,691,000 5,851,000 7,285,000 7,067,000 5,854,000 5,381,000 27,660,891 25,587,187
Total revenues 13,215,000 11,643,000 11,293,000 10,086,000 11,794,000 11,185,000 9,901,000 8,988,000 46,237,274 41,867,769
Operating loss $ 37,000 $ 446,000 $ 180,000 $ (774,000) $ 454,000 $ (271,000) $ (922,000) $ (1,760,000) (111,354) (2,499,236)
Depreciation                 700,000 800,000
Amortization                 500,000 600,000
Technology Development                    
Segment Reporting Information [Line Items]                    
Operating loss                 (120,417) (499,583)
Depreciation                 359,626 352,435
Amortization                 139,067 195,619
Products and Licensing                    
Segment Reporting Information [Line Items]                    
Operating loss                 9,063 (1,999,653)
Depreciation                 747,216 1,148,195
Amortization                 $ 1,280,699 $ 2,017,629