Annual report pursuant to Section 13 and 15(d)

Capital Stock, Stock Plans, Warrants, and Stock-Based Compensation (Details Narrative)

Capital Stock, Stock Plans, Warrants, and Stock-Based Compensation (Details Narrative) - USD ($)												1 Months Ended	12 Months Ended
	Sep. 29, 2020	Aug. 10, 2020	Jul. 22, 2020	Mar. 27, 2020	Feb. 04, 2020	Aug. 29, 2019	Jul. 25, 2019	Apr. 02, 2019	Jan. 17, 2019	Jan. 17, 2019	Jul. 27, 2017	May 31, 2018	Dec. 31, 2020	Dec. 31, 2019
Number of stock option shares granted													24,000
Proceeds from exercise of stock options													$ 6,000	$ 133,000
Number of common shares reserved for future issuance													658,400
Ferguson Stock Option [Member]
Options to purchase shares of common stock				60,000					30,000
Options extended date description				The Compensation Committee and the Board approved another amendment to the Ferguson Stock Option whereby the vesting date for the second milestone was further extended to December 31, 2021 from March 31, 2020 and the vesting date for the third milestone for the purchase of up to 60,000 shares of the Company's Common Stock was extended to December 31, 2022 from January 27, 2021.					The Company's Common Stock was extended to March 31, 2020 from January 27, 2019
Employee and Directors [Member]
Unrecognized compensation cost related to unvested options consultant													$ 274,000
Weighted average term for unrecognized and unvested option to be recognized													2 years 4 days
Robert Ferguson [Member]
Number of options exercised												10,000
Unrecognized compensation cost related to unvested options consultant													$ 262,000
Remaining stock option													90,000
Loans payable								$ 2,500,000
Warrant to purchase								60,000
Warrants exercise price								$ 3.51
Warrant exercisable, description								The Warrant is exercisable six months from April 1, 2019 and expires on April 1, 2024 and remains outstanding at December 31, 2020
Common Stock [Member]
Stock issued during period for services, shares													34,135	71,905
2003 Outside Directors Stock Plan [Member]
Stock options, expiration period													10 years
Share-based compensation arrangement by share-based payment award percentage of stock in lieu of fee payable													65.00%
Percentage of directors fees, description													The 2003 Plan also provides for the issuance to each outside director a number of shares of the Company's Common Stock in lieu of 65% or 100% (based on option elected by each director) of the fee payable to the eligible director for services rendered as a member of the Board. The number of shares issued is determined at 75% of the market value as defined in the plan (the Company recognizes 100% of the market value of the shares issued).
Shares remaining available for issuance													218,577
2003 Outside Directors Stock Plan [Member] \| Common Stock [Member]
Number of shares available for issuance													1,100,000
2003 Outside Directors Stock Plan [Member] \| Election [Member]
Options granted to purchase shares upon re-election													2,400
2003 Outside Directors Stock Plan [Member] \| Election [Member] \| Maximum [Member]
Options granted to purchase shares upon initial election													6,000
2017 Stock Option Plan [Member]
Shares remaining available for issuance													647,500
Number of stock option shares granted						12,500
Stock options, exercise price						$ 3.90
Stock options granted contractual term						6 years
2017 Stock Option Plan [Member] \| One-Fifth Vesting [Member]
Stock options granted vesting period						5 years
2017 Stock Option Plan [Member] \| Officers and Employees [Member]
Number of shares available for issuance													1,140,000
Shares remaining available for issuance													600,000
2017 Stock Option Plan [Member] \| Consultant [Member]
Number of stock option shares granted											100,000
Stock options, exercise price											$ 3.65
2010 Stock Option Plan [Member]
Number of stock option shares granted	50,000
Stock options, exercise price	$ 3.97
Stock options, expiration date	May 15, 2022
2010 Stock Option Plan [Member] \| Officers and Employees [Member]
Shares remaining available for issuance													140,000
2003 Plan [Member]
Number of stock option shares granted		6,000	12,000		6,000		12,000
Stock options, exercise price		$ 7.29	$ 6.70		$ 7.00		$ 3.31
Stock options granted contractual term		10 years	10 years		10 years		10 years
Stock options granted vesting period		6 months	6 months		6 months		6 months
2017 Plan [Member]
Number of stock option shares granted										105,000
Stock options, exercise price										$ 3.15
Stock options granted contractual term										6 years
2017 Plan [Member] \| One-Fifth Vesting [Member]
Stock options granted vesting period										5 years
2017 Plan [Member] \| CEO [Member]
Number of stock option shares granted										25,000
2017 Plan [Member] \| CFO [Member]
Number of stock option shares granted										15,000
2017 Plan [Member] \| EVP of Strategic Initiatives [Member]
Number of stock option shares granted										15,000
2017 Stock Option Plan [Member]
Fair market value of shares, granted description													The term of each stock option granted under the 2017 Plan shall be fixed by the Compensation Committee, but no stock options will be exercisable more than ten years after the grant date, or in the case of an ISO granted to a 10% stockholder, five years after the grant date. The exercise price of any ISO granted under the 2017 Plan to an individual who is not a 10% stockholder at the time of the grant shall not be less than the fair market value of the shares at the time of the grant, and the exercise price of any ISO granted to a 10% stockholder shall not be less than 110% of the fair market value at the time of grant.
Number of options exercised													2,000	32,400
Proceeds from exercise of stock options													$ 6,300	$ 133,000
Number of shares issued from option exercise (cashless)													1,884
2017 Stock Option Plan [Member] \| First Separate Options [Member]
Stock options, exercise price													$ 3.60
Number of options exercised													8,000
2017 Stock Option Plan [Member] \| Second Separate Options [Member]
Stock options, exercise price													$ 3.15
Number of options exercised													2,500
2003 Outside Directors Stock Option Plan [Member]
Percentage of directors fees, description													As a member of the Board, each director elects to receive either 65% or 100% of the director's fee in shares of our Common Stock. The number of shares received is calculated based on 75% of the fair market value of our Common Stock determined on the business day immediately preceding the date that the quarterly fee is due.
Stock issued during period for services, shares													34,135	71,905
The 2003 Outside Directors Stock Plan [Member] \| Portion of Director Fee Earned in Common Stock [Member]
Allocated share-based compensation expense													$ 250,000	$ 232,000