Stockholders' Equity (Details) - USD ($)			9 Months Ended
	May 03, 2021	Jun. 16, 2020	Sep. 30, 2021	Sep. 30, 2020	Dec. 31, 2020
Stockholders' Equity (Details) [Line Items]
Authorized to issue and sale of stock			185,000,000
Common stock, shares authorized			180,000,000
Common stock, par value (in Dollars per share)			$ 0.001		$ 0.001
Preferred stock, shares authorized			5,000,000		5,000,000
Preferred stock, par value (in Dollars per share)			$ 0.001		$ 0.001
Registration of shares, description			the Company filed a registration statement for the shares issued in its private offering (the “Private Offering”) with certain promissory note holders in December 2020. The Company converted outstanding amounts under its 8% Unsecured Promissory Notes (the “2018 Notes”) due in 2021 and 2022 in the Private Offering totaling an aggregate of $3,847,018 in principal and interest and issued 3,154,115 units at a price of $1.22 per unit. Each unit consists of one share of the Company’s common stock and one warrant to purchase 0.75 of one share of the Company’s common stock at an exercise price of $1.44 per share. Each warrant can be exercised at any time on or after June 18, 2021 and has an expiration date of June 18, 2026. Two officers of the Company participated in the Private Offering and converted an aggregate of approximately $131,000 in principal and interest into 107,000 units.
Shares of common stock purchase	1,300,000
Term, description			The stock options have terms of ten years and are subject to vesting based on continuous service of the awardee over periods ranging from three to four years.
Cash proceeds of exercised, stock options (in Dollars)			$ 1,116,147	$ 252,385
Proceeds from warrant exercises (in Dollars)			$ 2,089,476	$ 45,000
Closing market price percentage			85.00%
Issued shares of under ESPP			17,662
Employee compensation deferrals (in Dollars)			$ 16,814
Future issuance of shares under ESPP			482,338
Chief Executive Officer [Member]
Stockholders' Equity (Details) [Line Items]
Nonqualifed stock option of purchase	2,250,000
Common stock, per share (in Dollars per share)	$ 1.35
Based grant vest	25.00%
Stock option aggregate grant fair value (in Dollars)	$ 2,227,000
Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Options to purchase common stock			783,901
Cash proceeds of exercised, stock options (in Dollars)			$ 1,116,147
Options to purchase common stock expired			1,043,369
Warrants [Member]
Stockholders' Equity (Details) [Line Items]
Warrants to purchase of granted			60,000
Exercise price (in Dollars per share)			$ 1.38
Vesting period, description			Fifty thousand of these warrants were valued using the Black-Scholes option pricing model and the corresponding expense will be recognized over the vesting period of one year. Ten thousand of these warrants are performance based and will be valued and expensed at the time the performance conditions are met. The warrants have terms that range from two to three years with vesting over a one-year period.
Warrants to purchase of common stock exercised			1,451,025
Proceeds from warrant exercises (in Dollars)			$ 2,089,476
Warrants to purchase of common stock expired			3,181,052
2011 Plan [Member]
Stockholders' Equity (Details) [Line Items]
Total number of shares authorized for issuance		14,000,000
Remaining options to be issued		2,900,478
Share-based Payment Arrangement, Option [Member]
Stockholders' Equity (Details) [Line Items]
Stock option aggregate grant fair value (in Dollars)			$ 5,609,846
Stock options granted to employees			5,522,000
Share-based Payment Arrangement, Option [Member] | Minimum [Member]
Stockholders' Equity (Details) [Line Items]
Common stock, per share (in Dollars per share)			$ 1.1
Share-based Payment Arrangement, Option [Member] | Maximum [Member]
Stockholders' Equity (Details) [Line Items]
Common stock, per share (in Dollars per share)			$ 1.38