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Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of warrant activity - Warrant [Member] - $ / shares
12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of warrant activity [Line Items]    
Warrants opening, Balance 6,192,711 6,303,643
Weighted Average Exercise Price opening, Balance $ 2.88 $ 3.09
Warrants closing, Balance 5,731,477 6,192,711
Weighted Average Exercise Price closing, Balance $ 2.96 $ 2.88
Warrants, Granted
Weighted Average Exercise Price, Granted
Warrants, Exercised (461,234)
Weighted Average Exercise Price, Exercised $ 1.87
Warrants, Expired (110,932)
Weighted Average Exercise Price, Expired $ 14.80