0001493152-21-005868 | 10-K | XBRL Viewer

Cover - USD ($) $ in Millions	12 Months Ended
Cover - USD ($) $ in Millions	Dec. 31, 2020	Feb. 28, 2021	Jun. 30, 2020
Cover [Abstract]
Document Type	10-K
Amendment Flag	false
Document Annual Report	true
Document Transition Report	false
Document Period End Date	Dec. 31, 2020
Document Fiscal Period Focus	FY
Document Fiscal Year Focus	2020
Current Fiscal Year End Date	--12-31
Entity File Number	001-36159
Entity Registrant Name	STEREOTAXIS, INC.
Entity Central Index Key	0001289340
Entity Tax Identification Number	94-3120386
Entity Incorporation, State or Country Code	DE
Entity Address, Address Line One	4320 Forest Park Avenue
Entity Address, Address Line Two	Suite 100
Entity Address, City or Town	St. Louis
Entity Address, State or Province	MO
Entity Address, Postal Zip Code	63108
City Area Code	(314)
Local Phone Number	678-6100
Title of 12(b) Security	Common Stock, par value $0.001 per share
Trading Symbol	STXS
Security Exchange Name	NYSE
Entity Well-known Seasoned Issuer	No
Entity Voluntary Filers	No
Entity Current Reporting Status	Yes
Entity Interactive Data Current	Yes
Entity Filer Category	Non-accelerated Filer
Entity Small Business	true
Entity Emerging Growth Company	false
Entity Shell Company	false
Entity Public Float			$ 233.9
Entity Common Stock, Shares Outstanding		73,758,714
ICFR Auditor Attestation Flag	false

Balance Sheets - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Current assets:
Cash and cash equivalents	$ 43,939,512	$ 30,182,115
Compensating cash arrangement	250,620
Accounts receivable, net of allowance of $123,614 and $380,212 at 2020 and 2019, respectively	3,515,136	5,329,577
Inventories, net	3,295,457	1,847,530
Prepaid expenses and other current assets	1,716,014	1,470,922
Total current assets	52,716,739	38,830,144
Property and equipment, net	195,129	250,443
Operating lease right-of-use assets	2,235,442	4,286,064
Other assets	308,515	218,103
Total assets	55,455,825	43,584,754
Current liabilities:
Short-term debt	1,185,058
Accounts payable	1,608,636	2,099,097
Accrued liabilities	3,209,235	2,721,104
Deferred revenue	5,282,770	5,092,455
Current portion of operating lease liabilities	2,287,487	2,248,189
Total current liabilities	13,573,186	12,160,845
Long-term debt	973,252
Long-term deferred revenue	548,915	554,258
Operating lease liabilities		2,089,537
Other liabilities	131,231	255,517
Total liabilities	15,226,584	15,060,157
Series A - Convertible preferred stock:
Convertible preferred stock, Series A, par value $0.001; 22,513 and 23,110 shares outstanding at 2020 and 2019, respectively	5,605,323	5,758,190
Stockholders’ equity:
Convertible preferred stock, Series B, par value $0.001; 10,000,000 shares authorized, 5,610,121 shares outstanding at 2020 and 2019	5,610	5,610
Common stock, par value $0.001; 300,000,000 shares authorized, 73,694,203 and 68,529,623 shares issued at 2020 and 2019, respectively	73,694	68,530
Additional paid in capital	522,709,846	504,211,040
Treasury stock, 4,015 shares at 2020 and 2019	(205,999)	(205,999)
Accumulated deficit	(487,959,233)	(481,312,774)
Total stockholders’ equity	34,623,918	22,766,407
Total liabilities and stockholders’ equity	$ 55,455,825	$ 43,584,754

Balance Sheets (Parenthetical) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Statement of Financial Position [Abstract]
Accounts Receivable, Allowance for Credit Loss, Current	$ 123,614	$ 380,212
Temporary Equity, Par or Stated Value Per Share	$ 0.001	$ 0.001
Temporary Equity, Shares Outstanding	22,513	23,110
Preferred Stock, Par or Stated Value Per Share	$ 0.001	$ 0.001
Preferred Stock, Shares Authorized	10,000,000	10,000,000
Preferred Stock, Shares Outstanding	5,610,121	5,610,121
Common Stock, Par or Stated Value Per Share	$ 0.001	$ 0.001
Common Stock, Shares Authorized	300,000,000	300,000,000
Common Stock, Shares, Issued	73,694,203	68,529,623
Treasury Stock, Common, Shares	4,015	4,015

Statements of Operations - USD ($)	12 Months Ended
Statements of Operations - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Revenue:
Total revenue	$ 26,630,035	$ 28,902,550
Sublease	986,120	986,123
Cost of revenue:
Total cost of revenue	7,664,246	6,136,459
Sublease	986,120	986,122
Gross margin	18,965,789	22,766,091
Operating expenses:
Research and development	8,136,914	9,021,403
Sales and marketing	11,178,325	12,733,389
General and administrative	6,364,365	5,838,158
Total operating expenses	25,679,604	27,592,950
Operating loss	(6,713,815)	(4,826,859)
Interest income, net	67,356	235,575
Net loss	(6,646,459)	(4,591,284)
Cumulative dividend on Series A convertible preferred stock	(1,369,421)	(1,429,400)
Loss attributable to common stockholders	$ (8,015,880)	$ (6,020,684)
Net loss per share attributable to common stockholders:
Basic	$ (0.11)	$ (0.10)
Diluted	$ (0.11)	$ (0.10)
Weighted average number of common shares and equivalents:
Basic	72,746,268	63,051,581
Diluted	72,746,268	63,051,581
Systems [Member]
Revenue:
Total revenue	$ 3,626,284	$ 2,066,253
Cost of revenue:
Total cost of revenue	3,715,416	1,411,423
Disposables, Service and Accessories [Member]
Revenue:
Total revenue	22,017,631	25,850,174
Cost of revenue:
Total cost of revenue	$ 2,962,710	$ 3,738,914

Statements of Convertible Preferred Stock and Stockholders' Equity - USD ($)	Convertible Preferred Stock Series A [Member]	Convertible Preferred Stocks Series B [Member]	Common Stock [Member]	Additional Paid-in Capital [Member]	Treasury Stock [Member]	Retained Earnings [Member]	Total
Beginning balance, value at Dec. 31, 2018	$ 5,960,475		$ 59,058	$ 478,179,574	$ (205,999)	$ (476,721,490)	$ 1,311,143
Beginning Balance, Shares at Dec. 31, 2018	23,900		59,058,297
Issuance of common stock			$ 7,779	13,312,405			13,320,184
Issuance of common stock, Shares			7,778,806
Share-based compensation			$ 207	1,811,877			1,812,084
Share-based compensation, Shares			207,212
Components of net loss						(4,591,284)	(4,591,284)
Employee stock purchase plan			$ 40	80,017			80,057
Employee stock purchase plan, Shares			39,648
Preferred stock issuance		$ 5,610		10,626,328			10,631,938
Preferred stock issuance, shares		5,610,121
Preferred stock conversion	$ (202,285)		$ 1,446	200,839			202,285
Preferred stock conversion, Shares	(790)		1,445,660
Ending balance, value at Dec. 31, 2019	$ 5,758,190	$ 5,610	$ 68,530	504,211,040	(205,999)	(481,312,774)	22,766,407
Ending Balance, Shares at Dec. 31, 2019	23,110	5,610,121	68,529,623
Issuance of common stock			$ 3,863	15,057,950			15,061,813
Issuance of common stock, Shares			3,863,314
Share-based compensation			$ 149	3,169,199			3,169,348
Share-based compensation, Shares			147,989
Components of net loss						(6,646,459)	(6,646,459)
Employee stock purchase plan			$ 32	119,910			119,942
Employee stock purchase plan, Shares			32,467
Preferred stock conversion	$ (152,867)		$ 1,120	151,747			152,867
Preferred stock conversion, Shares	(597)		1,120,810
Ending balance, value at Dec. 31, 2020	$ 5,605,323	$ 5,610	$ 73,694	$ 522,709,846	$ (205,999)	$ (487,959,233)	$ 34,623,918
Ending Balance, Shares at Dec. 31, 2020	22,513	5,610,121	73,694,203

Statements of Cash Flows - USD ($)	12 Months Ended
Statements of Cash Flows - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Cash flows from operating activities
Net loss	$ (6,646,459)	$ (4,591,284)
Adjustments to reconcile net loss to cash used in operating activities:
Depreciation	126,211	122,736
Non-cash lease expense	2,340,428	2,342,344
Share-based compensation	3,169,348	1,330,195
Changes in operating assets and liabilities:
Accounts receivable	1,814,441	(308,466)
Inventories	(1,447,927)	(655,864)
Prepaid expenses and other current assets	(245,092)	(507,222)
Compensating cash arrangement	(250,620)
Other assets	(90,412)	(19,738)
Accounts payable	(490,461)	372,737
Accrued liabilities	488,131	560,482
Deferred revenue	184,972	(585,974)
Operating lease liability	(2,340,046)	(2,290,682)
Other liabilities	(124,286)	(385,944)
Net cash used in operating activities	(3,511,772)	(4,616,680)
Cash flows from investing activities
Purchase of equipment	(70,896)	(29,486)
Net cash used in investing activities	(70,896)	(29,486)
Cash flows from financing activities
Proceeds from Paycheck Protection Program loan	2,158,310
Proceeds from issuance of stock, net of issuance costs	15,181,755	24,032,209
Net cash provided by financing activities	17,340,065	24,032,209
Net increase in cash and cash equivalents	13,757,397	19,386,043
Cash and cash equivalents at beginning of period	30,182,115	10,796,072
Cash and cash equivalents at end of period	43,939,512	30,182,115
Supplemental disclosure of cash flow information:
Interest Paid

Description of Business

12 Months Ended

Dec. 31, 2020

Organization, Consolidation and Presentation of Financial Statements [Abstract]

Description of Business

1. Description of Business

Stereotaxis designs, manufactures and markets an advanced robotic magnetic navigation system for use in a hospital’s interventional surgical suite, or “interventional lab”, that we believe revolutionizes the treatment of arrhythmias by enabling enhanced safety, efficiency, and efficacy for catheter-based, or interventional, procedures. Our primary products include the Genesis RMN System, the Niobe System, the Odyssey Solution, and related devices. We also offer to our customers the Stereotaxis Imaging Model S x-ray System.

The Genesis RMN and Niobe Systems are designed to enable physicians to complete more complex interventional procedures by providing image-guided delivery of catheters through the blood vessels and chambers of the heart to treatment sites. This is achieved using externally applied magnetic fields that govern the motion of the working tip of the catheter, resulting in improved navigation, efficient procedures, and reduced x-ray exposure.

In addition to the robotic magnetic navigation systems and their components, Stereotaxis also has developed the Odyssey Solution, which consolidates lab information enabling physicians to focus on the patient for optimal procedure efficiency. The system also features a remote viewing and recording capability called Odyssey Cinema, which is an innovative solution that delivers synchronized content for optimized workflow, advanced care, and improved productivity. This tool includes an archiving capability that allows clinicians to store and replay entire procedures or segments of procedures. This information can be accessed from locations throughout the hospital local area network and over the global Odyssey Network providing physicians with a tool for clinical collaboration, remote consultation, and training.

We promote our full suite of products in a typical hospital implementation, subject to regulatory approvals or clearances. This implementation requires a hospital to agree to an upfront capital payment and recurring payments. The upfront capital payment typically includes equipment and installation charges. The recurring payments typically include disposable costs for each procedure, equipment service costs beyond warranty period, and ongoing software updates. In hospitals where our full suite of products has not been implemented, equipment upgrade or expansion can be implemented upon purchasing of the necessary upgrade or expansion.

We have received regulatory clearance, licensing and/or CE Mark approvals necessary for us to market the Genesis RMN System in the U.S. and Europe, and we are in the process of obtaining necessary registrations for extending our markets in other countries. The Niobe System, Odyssey Solution, Cardiodrive, and various disposable interventional devices have received regulatory clearance in the U.S., Europe, Canada, China, Japan and various other countries. We have received the regulatory clearance, licensing and/or CE Mark approvals that allow us to market the Vdrive and Vdrive Duo Systems with the V-CAS, V-Loop and V-Sono devices in the U.S., Canada and Europe. Stereotaxis Imaging Model S is CE marked and FDA cleared.

We have strategic relationships with technology leaders and innovators in the global interventional market. Through these strategic relationships we provide compatibility between our robotic magnetic navigation system and digital imaging and 3D catheter location sensing technology, as well as disposable interventional devices. The maintenance of these strategic relationships, or the establishment of equivalent alternatives, is critical to our commercialization efforts. There are no guarantees that any existing strategic relationships will continue and efforts are ongoing to ensure the availability of integrated next generation systems and/or equivalent alternatives. We cannot provide assurance as to the timeline of the ongoing availability of such compatible systems or our ability to obtain equivalent alternatives on competitive terms or at all.

Summary of Significant Accounting Policies

12 Months Ended

Dec. 31, 2020

Accounting Policies [Abstract]

Summary of Significant Accounting Policies

2. Summary of Significant Accounting Policies

Basis of Presentation

The accompanying Financial Statements have been prepared in accordance with U.S. generally accepted accounting principles (“U.S. GAAP”).

Cash and Cash Equivalents

The Company considers all short-term investments purchased with original maturities of three months or less to be cash equivalents. The Company places its cash with high-credit-quality financial institutions and invests primarily in money market accounts. No cash was restricted at December 31, 2020 or 2019.

Compensating Cash Arrangement

In July 2020, the Company entered into a letter of credit to support a commitment of less than $0.3 million. As a condition of the letter of credit, the Company is required to maintain a $0.3 million compensating balance until the expiration of the letter of credit.

Accounts Receivable and Allowance for Uncollectible Accounts

Accounts receivable primarily include amounts due from hospitals and distributors for acquisition of magnetic systems, associated disposable device sales and service contracts. Credit is granted on a limited basis, with balances due generally within 30 days of billing. The provision for bad debts is based upon management’s assessment of historical and expected net collections considering business and economic conditions and other collection indicators.

Financial Instruments

Financial instruments consist of cash and cash equivalents, accounts receivable, accounts payable and debt. The carrying value of such amounts reported at the applicable balance sheet dates approximates fair value.

The Company measures certain financial assets and liabilities at fair value on a recurring basis. General accounting principles for fair value measurement established a fair value hierarchy that prioritizes the inputs to valuation techniques used to measure fair value. The hierarchy gives the highest priority to unadjusted quoted prices in active markets for identical assets and liabilities (“Level 1”) and the lowest priority to unobservable inputs (“Level 3”).

The Company’s financial assets consist of cash equivalents invested in money market funds. The Company had cash equivalents invested in money market funds in the amount of $1.4 million at December 31, 2020. The financial assets consisting of cash equivalents invested in money market funds are classified as Level 2 as described above and total interest income recorded for these investments was insignificant for the year ended December 31, 2020. As of December 31, 2020, the Company did not have any financial liabilities valued at fair value on a recurring basis. As of December 31, 2019, the Company did not have any financial assets or liabilities valued at fair value on a recurring basis.

Inventory

The Company values its inventory at the lower of cost, as determined using the first-in, first-out (FIFO) method, or market. The Company periodically reviews its physical inventory and provides a reserve upon identification of potential excess or obsolete items. Excess manufacturing overhead costs attributable to idle facility expenses or abnormally low production volumes are excluded from inventory and recorded as an expense in the period incurred.

Property and Equipment

Property and equipment consist primarily of leasehold improvements, computer, office, research and demonstration equipment, and equipment held for lease and are stated at cost. Depreciation is calculated using the straight-line method over the estimated useful lives or life of the base lease term, ranging from three to ten years.

Long-Lived Assets

If facts and circumstances suggest that a long-lived asset may be impaired, the carrying value is reviewed. If this review indicates that the carrying value of the asset will not be recovered, as determined based on projected undiscounted cash flows related to the asset over its remaining life, the carrying value of the asset is reduced to its estimated fair value, which in most cases is estimated based upon Level 2 or Level 3 inputs.

Intangible Assets

Intangible assets consist of purchased technology and intellectual property rights valued at cost on the acquisition date and amortized over their estimated useful lives of 10-15 years. If facts and circumstances suggest that an intangible asset may be impaired, the carrying value is reviewed. If this review indicates that the carrying value of the asset will not be recovered, as determined based on projected undiscounted cash flows related to the asset over its remaining life, the carrying value of the asset is reduced to its estimated fair value, which in most cases is estimated based upon Level 2 or Level 3 inputs.

Use of Estimates

The preparation of financial statements in conformity with U.S. generally accepted accounting principles requires management to make estimates and assumptions that affect the reported amounts of assets and liabilities and disclosure of contingent assets and liabilities at the date of the financial statements and the reported amounts of income and loss during the reporting period. Actual results could differ from those estimates.

Revenue and Costs of Revenue

Revenue Recognition

The Company accounts for revenue in accordance with Accounting Standards Codification Topic 606 (“ASC 606”), Revenue from Contracts with Customers.

We generate revenue from initial capital sales of systems as well as recurring revenue from the sale of our proprietary disposable devices, from royalties paid to the Company on the sale by Biosense Webster of co-developed catheters, and from revenue including ongoing software updates and service contracts.

We account for a contract with a customer when there is a legally enforceable contract between the Company and the customer, the rights of the parties are identified, the contract has commercial substance, and collectability of the contract consideration is probable. We record our revenue based on consideration specified in the contract with each customer, net of any taxes collected from customers that are remitted to government authorities.

For contracts containing multiple products and services the Company accounts for individual products and services as separate performance obligations if they are distinct, which is if a product or service is separately identifiable from other items in the bundled package, and if a customer can benefit from it on its own or with other resources that are readily available to the customer. The Company recognizes revenues as the performance obligations are satisfied by transferring control of the product or service to a customer.

For arrangements with multiple performance obligations, revenue is allocated to each performance obligation based on its relative standalone selling price. Standalone selling prices are based on observable prices at which the Company separately sells the products or services. If a standalone selling price is not directly observable, then the Company estimates the standalone selling price considering market conditions and entity-specific factors including, but not limited to, features and functionality of the products and services and market conditions. The Company regularly reviews standalone selling prices and updates these estimates if necessary.

Our revenue recognition policy affects the following revenue streams in our business as follows:

Systems:

Contracts related to the sale of systems typically contain separate obligations for the delivery of system(s), installation and an implied obligation to provide software enhancements if and when available for one year following installation. Revenue is recognized when the Company transfers control to the customer, which is generally at the point when acceptance occurs that indicates customer acknowledgment of delivery or installation, depending on the terms of the arrangement. Revenue from the implied obligation to deliver software enhancements if and when available is recognized ratably over the first year following installation of the system as the customer receives the right to software updates throughout the period and is included in Other Recurring Revenue. The Company’s system contracts generally do not provide a right of return. Systems are generally covered by a one-year assurance type warranty; warranty costs were less than $0.1 million for the periods presented. Revenue from system delivery and installation represented 14% and 7% of revenue for the years ended December 31, 2020 and 2019, respectively.

Disposables:

Revenue from sales of disposable products is recognized when control is transferred to the customers, which generally occurs at the time of shipment, but can also occur at the time of delivery depending on the customer arrangement. Disposable products are covered by a warranty that provides for the return of defective products. Warranty costs were not material for the periods presented. Disposable revenue represented 28% and 33% of revenue for the years ended December 31, 2020 and 2019, respectively.

Royalty:

The Company is entitled to royalty payments from Biosense Webster, payable quarterly based on net revenues from sales of the co-developed catheters. Royalty revenue from the co-developed catheters represented 8% and 10% of revenue for the years ended December 31, 2020 and 2019, respectively

Other Recurring Revenue:

Other recurring revenue includes revenue from product maintenance plans, other post warranty maintenance, and the implied obligation to provide software enhancements if and when available for a specified period, typically one year following installation of our systems. Revenue from services and software enhancements is deferred and amortized over the service or update period, which is typically one year. Revenue related to services performed on a time-and-materials basis is recognized when performed. Other recurring revenue represented 46% and 47% of revenue for the years ended December 31, 2020 and 2019, respectively.

Sublease Revenue:

The adoption of new lease accounting guidance as of January 1, 2019 requires the Company to record sublease income as revenue beginning in 2019. Sublease revenue represented 4% and 3% of revenue for the years ended December 31, 2020 and 2019, respectively.

	Year Ended December 31,
	2020		2019
Systems	$	3,626,284	$	2,066,253
Disposables, service and accessories		22,017,631		25,850,174
Sublease		986,120		986,123
Total revenue	$	26,630,035	$	28,902,550

Transaction price allocated to remaining performance obligations relates to amounts allocated to products and services for which the revenue has not yet been recognized. A significant portion of this amount relates to the Company’s systems contracts and obligations that will be recognized as revenue in future periods. These obligations are generally satisfied within two years after contract inception but may occasionally extend longer. Transaction price representing revenue to be earned on remaining performance obligations on system contracts was approximately $6.9 million as of December 31, 2020. Performance obligations arising from contracts for disposables, royalty and service are generally expected to be satisfied within one year after entering into the contract.

The following information summarizes the Company’s contract assets and liabilities:

	December 31, 2020			December 31, 2019
Contract Assets - unbilled receivables	$	284,415		$	168,445

Product shipped, revenue deferred	$	645,200		$	674,324
Deferred service and license fees		5,186,485			4,972,389
Total deferred revenue	$	5,831,685		$	5,646,713
Less: Long-term deferred revenue		(548,915	)		(554,258	)
Total current deferred revenue	$	5,282,770		$	5,092,455

The Company invoices its customers based on the billing schedules in its sales arrangements. Contract assets primarily represent the difference between the revenue that was earned but not billed on service contracts and revenue from system contracts that was recognized based on the relative selling price of the related performance obligations and the contractual billing terms in the arrangements. Deferred revenue is primarily related to service contracts, for which the service fees are billed up-front, generally quarterly or annually, and for amounts billed in advance for system contracts for which some performance obligations remain outstanding. For service contracts, the associated deferred revenue is generally recognized ratably over the service period. For system contracts, the associated deferred revenue is recognized when the remaining performance obligations are satisfied. The Company did not have any impairment losses on its contract assets for the periods presented.

Revenue recognized for the years ended December 31, 2020 and 2019, that was included in the deferred revenue balance at the beginning of each reporting period was $5.0 million and $5.6 million, respectively.

The Company has determined that sales incentive programs for the Company’s sales team meet the requirements to be capitalized as the Company expects to generate future economic benefits from the related revenue generating contracts after the initial capital sales transaction. The costs capitalized as contract acquisition costs included in prepaid expenses and other assets, in the Company’s balance sheet was $0.3 million as of December 31, 2020 and December 31, 2019. The Company did not incur any impairment losses during any of the periods presented.

Costs of systems revenue include direct product costs, installation labor and other costs, estimated warranty costs, and initial training and product maintenance costs. These costs are recorded at the time of sale. Costs of disposable revenue include direct product costs and estimated warranty costs and are recorded at the time of sale. Cost of revenue from services and license fees are recorded when incurred.

Research and Development Costs

Internal research and development costs are expensed in the period incurred. Amounts receivable from strategic relationships under research reimbursement agreements are recorded as a contra-research and development expense in the period reimbursable costs are incurred. There were no material receivables at December 31, 2020 or 2019 under these types of agreements. Advance receipts or other unearned reimbursements are included in accrued liabilities on the accompanying balance sheet until earned.

Share-Based Compensation

The Company accounts for its grants of stock options, stock appreciation rights, restricted shares, and restricted stock units and for its employee stock purchase plan in accordance with the provisions of general accounting principles for share-based payments. These accounting principles require the determination of the fair value of the share-based compensation at the grant date and the recognition of the related expense over the period in which the share-based compensation vests.

The Company utilizes the Black-Scholes valuation model to determine the fair value of stock options and stock appreciation rights at the date of grant. The resulting compensation expense is recognized over the requisite service period, which is generally four years. Restricted shares and units granted to employees are valued at the fair market value at the date of grant. The Company amortizes the fair market value to expense over the service period. If the shares are subject to performance objectives, the resulting compensation expense is amortized over the anticipated vesting period and is subject to adjustment based on the actual achievement of objectives.

Shares purchased by employees under the 2009 Employee Stock Purchase Plan are considered to be non-compensatory.

Net Earnings (Loss) per Common Share

Basic earnings (loss) per common share is computed by dividing the net earnings (loss) for the period by the weighted average number of common shares outstanding during the period. In periods where there is net income, we apply the two-class method to calculate basic and diluted net income (loss) per share of common stock, as our convertible preferred stock is a participating security. The two-class method is an earnings allocation formula that treats a participating security as having rights to earnings that otherwise would have been available to common stockholders. In periods where there is a net loss, the two-class method of computing earnings per share does not apply as our convertible preferred stock does not contractually participate in our losses. We compute diluted net income (loss) per common share using net income (loss) as the “control number” in determining whether potential common shares are dilutive, after giving consideration to all potentially dilutive common shares, including stock options, warrants, unvested restricted stock units outstanding during the period and potential issuance of stock upon the conversion of our convertible preferred stock issued and outstanding during the period, except where the effect of such securities would be antidilutive.

The Company did not include any portion of unearned restricted shares, outstanding options, stock appreciation rights, warrants or convertible preferred stock in the calculation of diluted loss per common share because all such securities are anti-dilutive for all periods presented. The application of the two-class method of computing earnings per share under general accounting principles for participating securities is not applicable during these periods because those securities do not contractually participate in its losses.

As of December 31, 2020, the Company had 2,456,979 shares of common stock issuable upon the exercise of outstanding options and stock appreciation rights at a weighted average exercise price of $2.90 per share, 15,385 shares of common stock issuable upon the exercise of outstanding warrants at a weighted average exercise price of $0.70 per share, 43,483,062 shares of our common stock issuable upon conversion of our Series A Convertible Preferred Stock, 5,610,121 shares of our common stock issuable upon conversion of our Series B Convertible Preferred Stock and 1,112,473 shares of unvested restricted share units. The Company had no unearned restricted shares outstanding for the period ended December 31, 2020.

Income Taxes

In accordance with general accounting principles for income taxes, a deferred income tax asset or liability is determined based on the difference between the financial statement and tax basis of assets and liabilities as measured by the enacted tax rates that will be in effect when these differences reverse. The Company provides a valuation allowance against net deferred income tax assets unless, based upon available evidence, it is more likely than not the deferred income tax assets will be realized.

Product Warranty Provisions

The Company’s standard policy is to warrant all systems against defects in material or workmanship for one year following installation. The Company’s estimate of costs to service the warranty obligations is based on historical experience and current product performance trends. A regular review of warranty obligations is performed to determine the adequacy of the reserve and adjustments are made to the estimated warranty liability (included in other accrued liabilities) as appropriate.

Patent Costs

Costs related to filing and pursuing patent applications are expensed as incurred, as recoverability of such expenditures is uncertain.

Concentrations of Risk

The majority of the Company’s cash, cash equivalents and investments are deposited with one major financial institution in the U.S. Deposits in this institution exceed the amount of government provided insurance on such deposits.

No single customer accounted for more than 10% of total revenue for the year ended December 31, 2020. Revenue from Biosense Webster Inc., related to royalties, accounted for $2.8 million, or 10%, of total net revenue for the year ended December 31, 2019. No other single customer accounted for more than 10% of total revenue for the year ended December 31, 2019. Revenue from customers in Finland accounted for $2.7 million, or 10%, of total revenue for the year ended December 31, 2020. No other single country, other than the U.S., accounted for more than 10% of total revenue for the years ended December 31, 2020 and 2019.

Recently Issued Accounting Pronouncements

In December 2019, the FASB issued ASU 2019-12, “Income Taxes (Topic 740): Simplifying the Accounting for Income Taxes” as part of its effort to reduce the complexity of accounting standards. The ASU is effective for fiscal years beginning after December 15, 2020. The Company does not expect that the adoption of this new guidance will have a material impact on the Company’s financial results.

In August 2018, the FASB issued ASU 2018-13, “Fair Value Measurement (Topic 820): Disclosure Framework-Changes to the Disclosure Requirements for Fair Value Measurement.” The primary focus of ASU 2018-13 is to improve the effectiveness of the disclosures for fair value measurements by requiring public entities to disclose certain new information while modifying some existing disclosure requirements. The FASB issued this ASU as part of its broader disclosure framework project, which aims to improve the effectiveness of disclosures in the notes to the financial statements by focusing on requirements that clearly communicate the most important information to users of the financial statements. The ASU is effective for public companies for fiscal years beginning after December 15, 2019, and interim periods therein with early adoption permitted. The Company adopted with no impact to the Company’s financial statements.

In June 2016, the FASB issued ASU 2016-13, “Financial Instruments-Credit Losses (Topic 326), Measurement of Credit Losses on Financial Instruments” and also issued subsequent amendments to the initial guidance under ASU 2018-19, ASU 2019-04 and ASU 2019-05. The standard modifies the measurement approach for credit losses on financial instruments, including trade receivables, from an incurred loss method to a current expected credit loss method, otherwise known as “CECL.” The standard requires the measurement of expected credit losses to be based on relevant information, including historical experience, current conditions and a forecast that is supportable. The standard is effective for fiscal years beginning after December 15, 2022, including interim periods within those fiscal years; early adoption is permitted. The standard must be adopted by applying a cumulative adjustment to retained earnings. The Company anticipates adopting the standard in the first quarter of 2023, although it does not expect a significant impact to the Company’s financial results.

Inventory

12 Months Ended

Dec. 31, 2020

Inventory Disclosure [Abstract]

Inventory

3. Inventory

Inventory consists of the following:

Schedule of Inventories

	December 31, 2020			December 31, 2019
Raw materials	$	2,950,912		$	3,063,532
Work in process		433,026			515,262
Finished goods		2,987,039			2,164,187
Reserve for obsolescence		(3,075,520	)		(3,895,451	)
Total inventory	$	3,295,457		$	1,847,530

Prepaid Expenses and Other Current Assets

12 Months Ended

Dec. 31, 2020

Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]

Prepaid Expenses and Other Current Assets

4. Prepaid Expenses and Other Current Assets

Prepaid expenses and other assets consist of the following:

	December 31, 2020			December 31, 2019
Prepaid expenses	$	754,062		$	640,252
Prepaid commissions		271,174			336,594
Deposits		855,970			712,179
Other assets		143,323			-
Total prepaid expenses and other assets		2,024,529			1,689,025
Less: Noncurrent prepaid expenses and other assets		(308,515	)		(218,103	)
Total current prepaid expenses and other assets	$	1,716,014		$	1,470,922

Property and Equipment

12 Months Ended

Dec. 31, 2020

Property, Plant and Equipment [Abstract]

Property and Equipment

5. Property and Equipment

Property and equipment consist of the following:

Schedule of Property and Equipment

	December 31, 2020			December 31, 2019
Equipment	$	6,488,984		$	6,485,873
Leasehold improvements		2,338,441			2,338,441
		8,827,425			8,824,314
Less: Accumulated depreciation		(8,632,296	)		(8,573,871	)
Net property and equipment	$	195,129		$	250,443

Leases

12 Months Ended

Dec. 31, 2020

Leases [Abstract]

Leases

6. Leases

A lease is defined as a contract, or part of a contract, that conveys the right to control the use of identified property, plant or equipment for a period of time in exchange for consideration. On January 1, 2019, the Company adopted ASU No. 2016-02 “Leases” (Topic 842) and all subsequent ASUs that modified Topic 842. The Company determines if an arrangement contains a lease at inception. For the Company, Accounting Standards Codification (“ASC 842”) primarily affected the accounting treatment for operating lease agreements in which the Company is the lessee.

The Company leases its facilities under operating leases, which were previously not recognized on the Company’s balance sheets. With the adoption of ASC 842, operating lease agreements are required to be recognized on the balance sheet as a right-of-use (“ROU”) asset and a corresponding lease liability. These leases do not have significant rent escalation holidays, concessions, leasehold improvement incentives, or other build-out clauses. Further, the leases do not contain contingent rent provisions. Many of our leases include both lease (i.e., fixed payments including rent, taxes, and insurance costs) and non-lease components (i.e., common-area or other maintenance costs) which are accounted for as a single lease component as we have elected the practical expedient to group lease and non-lease components for all leases. A portion of our principal executive office is subleased to a third party through 2021. The sublease does not have significant rent escalation holidays, concessions, leasehold improvement incentives, or other build-out clauses. In addition, the sublease does not contain contingent rent provisions nor are there options to extend or terminate the sublease.

The Company’s lease agreements often include one or more options to renew at the Company’s discretion. If at lease inception, the Company considers the exercising of a renewal option to be reasonably certain, the Company will include the extended term in the calculation of the ROU asset and lease liability. The Company elected not to include short-term leases (i.e. leases with initial terms of twelve months or less) on the balance sheet.

The calculated amounts of the ROU assets and lease liabilities are impacted by the length of the lease term and the discount rate used to calculate the present value of the minimum lease payments. ASC 842 requires the use of the discount rate implicit in the lease whenever this rate is readily determinable. As this rate is rarely determinable, the Company utilizes its incremental borrowing rate at lease inception. At December 31, 2020, the weighted average discount rate for operating leases was 9.0% and the weighted average remaining lease term for operating lease term is 1.0 year.

The following table represents lease costs and other lease information:

December 31, 2020 2019

Year Ended

December 31,

2020 2019

Operating lease cost $ 2,340,428 $ 2,342,344

Short-term lease cost 66,865 77,185

Sublease income (986,120 ) (986,123 )

Total net lease cost $ 1,421,173 $ 1,433,406

Cash paid within operating cash flows $ 2,486,309 $ 2,458,606

The initial recognition of the right of use assets in 2019 was $6.2 million. Variable lease costs consist primarily of taxes, insurance, and common area or other maintenance costs for our leased facilities and equipment which are paid based on actual costs incurred.

Future minimum payments for operating leases with initial or remaining terms of one year or more as of December 31, 2020, excluding sublease income, were as follows:

	December 31, 2020
2021		2,382,660
Total lease payments		2,382,660
Less: Interest		(95,173	)
Present value of lease liabilities	$	2,287,487

The undiscounted future cash flows to be received under the sublease are $1.0 million in 2021.

Accrued Liabilities

12 Months Ended

Dec. 31, 2020

Payables and Accruals [Abstract]

Accrued Liabilities

7. Accrued Liabilities

Accrued liabilities consist of the following:

Schedule of Accrued Liabilities

	December 31, 2020			December 31, 2019
Accrued salaries, bonus, and benefits	$	2,044,826		$	1,421,150
Accrued licenses and maintenance fees		483,879			483,879
Accrued warranties		157,615			141,697
Accrued taxes		172,744			206,232
Accrued professional services		138,359			383,342
Other		343,043			340,321
Total accrued liabilities		3,340,466			2,976,621
Less: Long term accrued liabilities		(131,231	)		(255,517	)
Total current accrued liabilities	$	3,209,235		$	2,721,104

Debt and Credit Facilities

12 Months Ended

Dec. 31, 2020

Debt Disclosure [Abstract]

Debt and Credit Facilities

8. Debt and Credit Facilities

The Company had a working capital line of credit with its primary lender, Silicon Valley Bank that matured on June 30, 2020.

The Coronavirus Aid, Relief, and Economic Security Act (“CARES Act”) was enacted on March 27, 2020 in the United States. Among the provisions contained in the CARES Act is the creation of the Paycheck Protection Program that provides for Small Business Administration (“SBA”) Section 7(a) loans for qualified small businesses. The loan can be forgiven as long as the funds are used for payroll related expenses as well as rent and utilities paid during the twenty four week period from the date of the loan and as long as certain headcount and wage/salary levels are maintained. On April 10, 2020, the Company was informed by its lender, Midwest BankCentre (the “Bank”), that the Bank received approval from the SBA to fund the Company’s request for a loan under the SBA’s Paycheck Protection Program (“PPP Loan”). Per the terms of the PPP Loan, the Company received total proceeds of $2,158,310 from the Bank on April 20, 2020. In accordance with the loan forgiveness requirements of the CARES Act, the Company used the full proceeds from the PPP Loan primarily for payroll costs, rent and utilities. The Company anticipates that the loan will be substantially forgiven. To the extent it is not forgiven, the Company would be required to repay that portion beginning in August 2021 with a final installment in April 2022. Interest would be assessed on the amount of the loan not forgiven at a rate of 1% per annum beginning on the date of the loan, April 20, 2020.

In accordance with generally accepted accounting principles for fair value measurement, the Company’s debt was measured at fair value (Level 2) as of December 31, 2020 which approximated the carrying value of the debt.

Convertible Preferred Stock and Stockholders’ Equity

12 Months Ended

Dec. 31, 2020

Equity [Abstract]

Convertible Preferred Stock and Stockholders’ Equity

9. Convertible Preferred Stock and Stockholders’ Equity

The holders of common stock are entitled one vote for each share held and to receive dividends whenever funds are legally available and when declared by the Board of Directors subject to the prior rights of holders of all classes of stock having priority rights as dividends and the conditions of the Revolving Credit Agreement. No dividends have been declared or paid as of December 31, 2020.

2020 Equity Financing

On May 25, 2020, the Company entered into a Securities Purchase Agreement with certain accredited investors, whereby it, in a direct registered offering, agreed to issue and sell to the investors an aggregate of 3,658,537 shares of the Company’s common stock, $0.001 par value per share, at a price of $4.10 per share. The Company received net proceeds of approximately $15.0 million, after offering expenses.

2019 Equity Financing and Series B Convertible Preferred Stock

On August 7, 2019, the Company entered into a Securities Purchase Agreement with certain institutional and other accredited investors, whereby it, in a private placement, agreed to issue and sell to the investors (i) an aggregate of 6,585,000 shares of the Company’s common stock, $0.001 par value per share, at a price of $2.05 per share (ii) and 5,610,121 shares of the Company’s Series B Convertible Preferred Stock, $0.001 par value per share (the “Series B Preferred Stock”), which are convertible into shares of the Company’s common stock, at a price of $2.05 per share. The Series B Preferred Stock, which is a common stock equivalent but non-voting and with a blocker on conversion if the holder would exceed a specified threshold of voting security ownership, is convertible into common stock on a one-for-one basis, subject to adjustment for events such as stock splits, combinations and the like as provided in the Purchase Agreement. The Series B Preferred Stock is reported in the stockholders’ equity section of the balance sheet.

The Company received net proceeds of approximately $23.1 million, after offering expenses.

Series A Convertible Preferred Stock and Warrants

In September 2016, the Company issued (i) 24,000 shares of Series A Convertible Preferred Stock, par value $0.001 per share, with a stated value of $1,000 per share (the “Series A Preferred Stock”), which are convertible into shares of the Company’s common stock at an initial conversion rate of $0.65 per share, subject to adjustment for events such as stock splits, combinations and the like as provided in the certificate of designations covering such Series A Preferred Stock, and (ii) warrants to purchase an aggregate of 36,923,078 shares of common stock. The shares of Series A Preferred Stock are entitled to vote on an as-converted basis with the common stock, subject to specified beneficial ownership issuance limitations. The Series A Preferred Stock bear dividends at a rate of six percent (6%) per annum, which are cumulative and accrue daily from the date of issuance on the $1,000 stated value. Such dividends will not be paid in cash except in connection with any liquidation, dissolution or winding up of the Company or any redemption of the Series A Preferred Stock. Each holder of convertible preferred shares has the right to require us to redeem such holder’s shares of Series A Preferred Stock upon the occurrence of specified events, which include certain business combinations, the sale of all or substantially all of the Company’s assets, or the sale of more than 50% of the outstanding shares of the Company’s common stock. In addition, the Company has the right to redeem the Series A Preferred Stock in the event of a defined change of control. The Series A Preferred Stock ranks senior to our common stock as to distributions and payments upon the liquidation, dissolution, and winding up of the Company. Since the Series A Preferred Stock are subject to conditions for redemption that are outside the Company’s control, the Series A Preferred Stock are presently reported in the mezzanine section of the balance sheet.

The warrants issued in conjunction with the Series A Preferred Stock (the “SPA Warrants”) have an exercise price of $0.70 per share subject to adjustments for events such as stock splits, combinations, and the like as provided under the terms of the warrants. The warrants are exercisable through September 29, 2021, subject to specified beneficial ownership issuance limitations.

The Company has reserved shares of common stock for conversion of convertible preferred stock, exercise of warrants, and the issuance of options granted under the Company’s stock option plan and its stock purchase plan as follows:

	December 31,		December 31,
	2020		2019
Warrants		15,385		46,155
Series A Convertible Preferred Stock		45,278,096		46,398,904
Series B Convertible Preferred Stock		5,610,121		5,610,121
Stock award plans		2,054,941		3,216,028
Employee Stock Purchase Plan		229,136		261,603
		53,187,679		55,532,811

Stock Award Plans

The Company has various stock plans that permit the Company to provide incentives to employees and directors of the Company in the form of equity compensation. In July 2012, the Board of Directors adopted a stock incentive plan (the 2012 Stock Incentive Plan) which was subsequently approved by the Company’s stockholders. This plan replaced the 2002 Stock Incentive Plan which expired on March 25, 2012.

The 2012 Stock Incentive Plan allows for the grant of incentive stock options, non-qualified stock options, stock appreciation rights, restricted shares and restricted share units to employees, directors, and consultants. Options granted under the 2012 Stock Incentive Plan expire no later than ten years from the date of grant. The exercise price of each incentive stock option shall not be less than 100% of the fair value of the stock subject to the option on the date the option is granted. The vesting provisions of individual options may vary, but incentive stock options generally vest 25% on the first anniversary of each grant and 1/48 per month over the next three years. Stock appreciation rights are rights to acquire a calculated number of shares of the Company’s common stock upon exercise of the rights. The number of shares to be issued is calculated as the difference between the exercise price of the right and the aggregate market value of the underlying shares on the exercise date divided by the market value as of the exercise date. Stock appreciation rights granted under the 2012 Stock Incentive Plan generally vest 25% on the first anniversary of such grant and 1/48 per month over the next three years and expire no later than ten years from the date of grant. The Company generally issues new shares upon the exercise of stock options and stock appreciation rights.

Restricted stock unit grants are time-based and generally vest over a period of four years. Options granted to non-employee directors expire no later than ten years from the date of grant.

The exercise price of options to non-employee directors shall not be less than 100% of the fair value of the stock subject to the option on the date the option is granted. Annual grants to directors generally vest between one and five years following grant.

At December 31, 2020, the Company had 2,054,941 remaining shares of the Company’s common stock to provide for current and future grants under its various equity plans.

A summary of the option and stock appreciation rights activity for the year ended December 31, 2020 is as follows:

	Number of Options/SARs			Range of Exercise Price				Weighted Average Exercise Price per Share
Outstanding, December 31, 2019		1,857,599		$	0.74	-	$36.20	$	2.22
Granted		917,250		$	3.22	-	$5.13	$	4.49
Exercised		(133,852	)	$	0.74	-	$2.15	$	1.27
Forfeited		(184,018	)	$	0.74	-	$36.20	$	5.17
Outstanding, December 31, 2020		2,456,979		$	0.74	-	$35.20	$	2.90

As of December 31, 2020, the weighted average remaining contractual life of the options and stock appreciation rights outstanding was 7.97 years. Of the 2,456,979 options and stock appreciation rights that were outstanding as of December 31, 2020, 901,549 were vested and exercisable with a weighted average exercise price of $2.21 per share and a weighted average remaining term of 6.81 years.

A summary of the options and stock appreciation rights outstanding by range of exercise price is as follows:

	Year Ended December 31, 2020
									Weighted
									Average
			Weighted Average		Weighted Average		Number of Options		Exercise Price Per
Range of Exercise Prices	Options Outstanding		Remaining Life		Exercise Price		Currently Exercisable		Vested Share
$0.00 - $1.00		568,877		7.17	$	0.74		373,065	$	0.74
$1.01 - $2.00		64,333		4.74	$	1.71		57,642	$	1.79
$2.01- $4.00		883,374		7.93	$	2.11		398,197	$	2.06
$4.01 - $10.00		923,500		8.87	$	4.50		55,750	$	4.09
$10.01 - $20.00		-		-	$	-		-	$	-
$30.01 - $40.00		16,895		0.27	$	33.65		16,895	$	33.65
		2,456,979		7.97	$	2.90		901,549	$	2.21

The intrinsic value of options and stock appreciation rights is calculated as the difference between the exercise price of the underlying awards and the quoted price of the Company’s common stock for the options and stock appreciation rights that were in-the-money at December 31, 2020. The intrinsic value of the options and stock appreciation rights outstanding at December 31, 2020 was approximately $5.9 million based on a closing share price of $5.09 on December 31, 2020. There were 884,654 fully vested options or stock appreciation rights outstanding at December 31, 2020 with an exercise price less than the closing stock price on December 31, 2020. During the year ended December 31, 2020 the aggregate intrinsic value of options and stock appreciation rights exercised under the Company’s stock option plans was $0.4 million. The intrinsic value of the options and stock appreciation rights outstanding at December 31, 2019 was approximately $6.6 million based on a closing share price of $5.29 on December 31, 2019. There were 494,137 fully vested options or stock appreciation rights outstanding at December 31, 2019 with an exercise price less than the closing stock price on December 31, 2019. During the year ended December 31, 2019 the aggregate intrinsic value of options and stock appreciation rights exercised under the Company’s stock option plans was $0.4 million. The weighted average grant date fair value of options and stock appreciation rights granted during the year ended December 31, 2020 and 2019 was $4.49 per share and $2.12 per share, respectively.

A summary of the restricted stock unit activity for the year ended December 31, 2020 is as follows:

	Number of Restricted Stock Units			Weighted Average Grant Date Fair Value per Unit
Outstanding, December 31, 2019		840,712		$	1.28
Granted		420,000		$	4.82
Vested		(147,989	)	$	2.44
Forfeited		(250	)	$	0.78
Outstanding, December 31, 2020		1,112,473		$	2.46

The intrinsic value of restricted stock units outstanding at December 31, 2020 was $5.7 million based on a closing share price of $5.09 as of December 31, 2020. During the year ended December 31, 2020, the aggregate intrinsic value of restricted stock units vested was $0.6 million determined at the date of vesting.

As of December 31, 2020, the total compensation cost related to options, stock appreciation rights and non-vested stock granted to employees under the Company’s stock award plans but not yet recognized was approximately $3.2 million. This cost will be amortized over a period of up to four years over the underlying estimated service periods and will be adjusted for subsequent changes in actual forfeitures and anticipated vesting periods.

2009 Employee Stock Purchase Plan

In 2009, the Company adopted its 2009 Employee Stock Purchase Plan (“ESPP”). In June 2014 and again in May 2019, the Company’s stockholders approved an amendment of the ESPP to increase the number of shares authorized for issuance under the ESPP by 250,000 shares. Eligible employees have the opportunity to participate in a new purchase period every 3 months. Under the terms of the plan, employees can purchase up to 15% of their compensation of the Company’s common stock, subject to an annual maximum of $25,000, at 95% of the fair market value of the stock at the end of the purchase period, subject to certain plan limitations. As of December 31, 2020, there were 229,136 remaining shares available for issuance under the Employee Stock Purchase Plan.

Fair Value Measurements

12 Months Ended

Dec. 31, 2020

Fair Value Disclosures [Abstract]

Fair Value Measurements

10. Fair Value Measurements

The Company measures certain financial assets and liabilities at fair value on a recurring basis, including certain cash equivalents. Generally accepted accounting principles for fair value measurement established a fair value hierarchy that prioritizes the inputs to valuation techniques used to measure fair value. The hierarchy gives the highest priority to unadjusted quoted prices in active markets for identical assets and liabilities (“Level 1”) and the lowest priority to unobservable inputs (“Level 3”). The three levels of the fair value hierarchy are described below:

Level 1:		Values are based on unadjusted quoted prices in active markets that are accessible at the measurement date for identical, unrestricted assets or liabilities.

Level 2:		Values are based on quoted prices for similar instruments in active markets, quoted prices for identical or similar instruments in in markets that are not active, or other model-based valuation techniques for which all significant assumptions are observable in the market.

Level 3:		Values are generated from model-based techniques that use significant assumptions not observable in the market.

The following table sets forth the Company’s assets measured at fair value on a recurring basis by level within the fair value hierarchy. As required by the Fair Value Measurements and Disclosures topic of the Accounting Standards Codification, assets and liabilities are classified in their entirety based on the lowest level of input that is significant to the fair value measurement.

	Fair Value Measurement Using
	Total		Quoted Prices in Active Markets for Identical Instruments (Level 1)		Significant Other Observable Inputs (Level 2)		Significant Unobservable Inputs (Level 3)
Assets at December 31, 2020
Cash invested in Money Market Accounts	$	1,429,331		—	$	1,429,331	$	—
Total assets at fair value	$	1,429,331		—	$	1,429,331	$	—

As of December 31, 2020, the Company did not have any financial liabilities valued at fair value on a recurring basis. As of December 31, 2019, the Company did not have any financial assets or liabilities valued at fair value on a recurring basis.

Level 1

The Company does not have any financial assets or liabilities classified as Level 1.

Level 2

The Company’s financial assets consist of cash equivalents invested in money market funds in the amount of $1,429,331 at December 31, 2020. These assets are classified as Level 2 as described above and total interest income recorded for these investments was insignificant during the year ended December 31, 2020.

Level 3

The Company does not have any financial assets or liabilities classified as Level 3.

- Definition

The entire disclosure for the fair value of financial instruments (as defined), including financial assets and financial liabilities (collectively, as defined), and the measurements of those instruments as well as disclosures related to the fair value of non-financial assets and liabilities. Such disclosures about the financial instruments, assets, and liabilities would include: (1) the fair value of the required items together with their carrying amounts (as appropriate); (2) for items for which it is not practicable to estimate fair value, disclosure would include: (a) information pertinent to estimating fair value (including, carrying amount, effective interest rate, and maturity, and (b) the reasons why it is not practicable to estimate fair value; (3) significant concentrations of credit risk including: (a) information about the activity, region, or economic characteristics identifying a concentration, (b) the maximum amount of loss the entity is exposed to based on the gross fair value of the related item, (c) policy for requiring collateral or other security and information as to accessing such collateral or security, and (d) the nature and brief description of such collateral or security; (4) quantitative information about market risks and how such risks are managed; (5) for items measured on both a recurring and nonrecurring basis information regarding the inputs used to develop the fair value measurement; and (6) for items presented in the financial statement for which fair value measurement is elected: (a) information necessary to understand the reasons for the election, (b) discussion of the effect of fair value changes on earnings, (c) a description of [similar groups] items for which the election is made and the relation thereof to the balance sheet, the aggregate carrying value of items included in the balance sheet that are not eligible for the election; (7) all other required (as defined) and desired information.

+ References + Details

Income Taxes

12 Months Ended

Dec. 31, 2020

Income Tax Disclosure [Abstract]

Income Taxes

11. Income Taxes

The provision for income taxes consists of the following:

Schedule of Provision For Income Taxes

	2020			2019
	Year Ended December 31,
	2020			2019
Deferred:
Federal	$	(1,172,382	)	$	(827,984	)
State and local		22,240			(41,740	)
		(1,150,142	)		(869,724	)
Valuation allowance		1,150,142			869,724
Income tax benefit	$	—		$	—

The provision for income taxes varies from the amount determined by applying the U.S. federal statutory rate to income before income taxes as a result of the following:

	Year Ended December 31,
	2020		2019
U.S. statutory income tax rate		21.0%		21.0%
State and local taxes, net of federal tax benefit		1.8%		1.8%
Permanent differences between book and tax		(3.5)%		(3.3)%
State rate adjustments		(2.2)%		(0.9)%
Prior year return-to-provision adjustment		0.2%		0.3%
Valuation allowance		(17.3)%		(18.9)%
Effective income tax rate		—%		—%

Included in permanent differences between book and tax in the above table are the differences such as incentive stock option expenses, nondeductible meals and entertainment and stock compensation shortfalls. The state rate adjustments are a result of changes in apportionment and various state rate law changes.

The components of the deferred tax asset are as follows:

	2020			2019
	December 31,
	2020			2019
Current accruals	$	1,329,681		$	1,660,817
Operating lease liabilities		536,307			1,021,891
Deferred revenue		9,412			2,749
Depreciation and amortization		952,208			1,095,119
Deferred compensation		874,403			576,269
Net operating loss carryovers		25,264,611			23,960,965
Deferred tax assets		28,966,622			28,317,810
Valuation allowance		(28,378,947	)		(27,228,805	)
Net deferred tax assets before deferred tax liabilities		587,675			1,089,005
Operating lease right-of-use assets		(524,105	)		(1,009,721	)
Capitalized compensation costs		(63,570	)		(79,284	)
Net deferred tax assets	$	—		$	—

Under Sections 382 and 383 of the Internal Revenue Code of 1986, as amended, if a corporation undergoes an “ownership change,” the corporation’s ability to use its pre-change net operating loss carryforwards and other pre-change tax attributes, such as research tax credits, to offset its post-change income may be limited. In general, an “ownership change” will occur if there is a cumulative change in our ownership by “5-percent shareholders” that exceeds 50 percentage points over a rolling three-year period. Similar rules may apply under state tax laws. Following significant ownership changes during 2013, the Company initiated a review of the availability of its U.S. net operating loss carryforwards. As a result of this review, it was determined that a large portion of the Company’s net operating loss carryovers would expire unused due to the limitation under IRC Section 382. The Company reduced the net operating loss carryover and corresponding valuation allowance as a result of these limitations as reflected in the net operating loss carryovers in the table above. The remaining net operating loss carryforwards following the ownership change have been assigned a full valuation allowance against all net deferred tax assets.

In assessing the realizability of deferred tax assets, the Company considers whether it is more likely than not that some portion or all of the deferred tax assets will not be realized. The ultimate realization of deferred tax assets is dependent upon the generation of future taxable income during the periods in which those temporary differences become deductible. The Company considers projected future taxable income and tax planning strategies in making this assessment. Based upon the level of historical taxable losses, and projections for future periods over which the deferred tax assets are deductible, the Company determined that a 100% valuation allowance of net deferred tax assets was appropriate.

On December 21, 2020, Congress approved the Consolidated Appropriations Act, 2021 (the “Appropriations Act”), which was signed into law by the President on December 27, 2020. The Appropriations Act funds the federal government to the end of the fiscal year and provides further COVID-19 economic relief. One of the business provisions included in the Appropriations Act is clarification of the income tax deductibility of business expenses that were paid for with Paycheck Protection Program funds. The Company will continue to monitor for additional legislation related to COVID-19 and its impact on our results of operations.

As of December 31, 2020, we had gross federal net operating loss carryforwards of approximately $111.0 million. The federal net operating loss carryforwards reflect accumulated book losses reduced for the 2013 IRC Section 382 ownership change limitation of $270.8 million and approximately $106.5 million of book/tax differences and expiration of unused carryforwards. The federal net operating loss carryforwards generated prior to the 2018 tax year will expire between 2030 and 2037. The federal net operating loss generated during and beyond 2018 will be carried forward indefinitely as a result of changes in the tax law following the Tax Cuts and Jobs Act. As of December 31, 2020, we had gross state net operating loss carryforward of approximately $34.2 million which will expire at various dates between 2021 and 2040 if not utilized.

The Company files income tax returns in the U.S. federal jurisdiction and various state and local jurisdictions. As the Company has a federal net operating loss carryforward from the year ended December 31, 2000 forward, all tax years from 2000 forward are subject to examination. As states have varying carryforward periods, and the Company has recently entered into additional states, the states are generally subject to examination for the previous 10 years or less.

At December 31, 2020 and 2019, the Company had less than $0.1 million in reserves for uncertain tax positions. The Company recognizes interest accrued, if any, net of tax and penalties, related to unrecognized tax benefits as components of income tax provision as applicable. As of December 31, 2020, accrued interest and penalties were less than $0.1 million.

- Definition

The entire disclosure for income taxes. Disclosures may include net deferred tax liability or asset recognized in an enterprise's statement of financial position, net change during the year in the total valuation allowance, approximate tax effect of each type of temporary difference and carryforward that gives rise to a significant portion of deferred tax liabilities and deferred tax assets, utilization of a tax carryback, and tax uncertainties information.

+ References + Details

Net Loss per Share

12 Months Ended

Dec. 31, 2020

Net loss per share attributable to common stockholders:

Net Loss per Share

12. Net Loss per Share

The following is a reconciliation of the numerator (net loss) and the denominator (number of shares) used in the basic and diluted earnings per share calculations:

	2020			2019
	Year Ended December 31,
	2020			2019
Net loss	$	(6,646,459	)	$	(4,591,284	)
Cumulative dividend on Series A Convertible Preferred Stock		(1,369,421	)		(1,429,400	)
Net loss attributable to common stockholders	$	(8,015,880	)	$	(6,020,684	)

Weighted average number of common shares and equivalents:		72,746,268			63,051,581
Basic EPS	$	(0.11	)	$	(0.10	)
Diluted EPS	$	(0.11	)	$	(0.10	)

The following table sets forth the number of common shares that were excluded from the computation of diluted earnings per share because their inclusion would have been anti-dilutive as follows:

	December 31,
	2020		2019
Shares issuable upon vesting/exercise of:
Options to purchase common stock		2,456,979		1,857,599
Series A Convertible Preferred Stock and Accumulated Dividends		43,483,062		42,497,068
Series B Convertible Preferred Stock		5,610,121		5,610,121
Restricted stock units		1,112,473		840,712
Warrants		15,385		46,155
		52,678,020		50,851,655

Employee Benefit Plan

12 Months Ended

Dec. 31, 2020

Retirement Benefits [Abstract]

Employee Benefit Plan

13. Employee Benefit Plan

The Company offers employees the opportunity to participate in a 401(k) plan. The Company recognized expense of approximately $0.3 million and $0.2 million for the years ended December 31, 2020 and 2019. The Company matches employee contributions up to 3% of each participating employee’s salary.

- Definition

The entire disclosure for retirement benefits.

+ References

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+ Details

Product Warranty Provisions

12 Months Ended

Dec. 31, 2020

Guarantees and Product Warranties [Abstract]

Product Warranty Provisions

14. Product Warranty Provisions

The Company’s standard policy is to warrant all capital systems against defects in material or workmanship for one year following installation. The Company’s estimate of costs to service the warranty obligations is based on historical experience and current product performance trends. A regular review of warranty obligations is performed to determine the adequacy of the reserve and adjustments are made to the estimated warranty liability as appropriate.

Accrued warranty, which is included in other accrued liabilities, consists of the following:

Schedule of Accrued Warranty

	December 31, 2020			December 31, 2019
Warranty accrual, beginning of the fiscal period	$	141,697		$	149,464
Accrual adjustment for product warranty		49,974			56,118
Payments made		(34,056	)		(63,885	)
Warranty accrual, end of the fiscal period	$	157,615		$	141,697

Commitments and Contingencies

12 Months Ended

Dec. 31, 2020

Commitments and Contingencies Disclosure [Abstract]

Commitments and Contingencies

15. Commitments and Contingencies

The Company at times becomes a party to claims in the ordinary course of business. Management believes that the ultimate resolution of pending or threatened proceedings will not have a material effect on the financial position, results of operations or liquidity of the Company.

Segment Information

12 Months Ended

Dec. 31, 2020

Segment Reporting [Abstract]

Segment Information

16. Segment Information

The Company considers reporting segments in accordance with general accounting principles for disclosures about segments of an enterprise and related information. The Company’s system and disposable devices are developed and marketed to a broad base of hospitals in the United States and internationally. The Company considers all such sales to be part of a single operating segment. Geographic revenues for the years ended December 31, 2020 and 2019 were as follows:

Schedule of Geographic Revenues

	Year Ended December 31,
	2020		2019
United States	$	17,442,883	$	19,265,635
International		9,187,152		9,636,915
Total	$	26,630,035	$	28,902,550

All of the Company’s long-lived assets are located in the United States. Revenues are attributed to countries based on the location of the customer.

- Definition

The entire disclosure for reporting segments including data and tables. Reportable segments include those that meet any of the following quantitative thresholds a) it's reported revenue, including sales to external customers and intersegment sales or transfers is 10 percent or more of the combined revenue, internal and external, of all operating segments b) the absolute amount of its reported profit or loss is 10 percent or more of the greater, in absolute amount of 1) the combined reported profit of all operating segments that did not report a loss or 2) the combined reported loss of all operating segments that did report a loss c) its assets are 10 percent or more of the combined assets of all operating segments.

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+ Details

Subsequent Events

12 Months Ended

Dec. 31, 2020

Subsequent Events [Abstract]

Subsequent Events

17. Subsequent Events

On February 23, 2021, the Company and David L. Fischel, the President and Chief Executive Officer of the Company, entered into a Performance Share Unit Award Agreement (the “PSU Agreement”), pursuant to which the Company granted Mr. Fischel Performance Share Units (the “PSUs”) representing the right to receive up to an aggregate of 13,000,000 shares of common stock of the Company, subject to the terms and conditions set forth in the PSU Agreement. The PSU Agreement is available in a Form 8-K filed with the Securities and Exchange Commission on February 24, 2021.

On March 1, 2021, the Company entered into an office lease agreement (the “Lease”) with Globe Building Company (the “Landlord”), under which the Company will lease executive office space and manufacturing facilities of approximately 43,100 square feet of rentable space located at 710 N. Tucker Boulevard, St. Louis, Missouri (the “Premises”) that will serve as the Company’s new principal executive and administrative offices and manufacturing facility. The Lease for the Premises is effective at the later of January 1, 2022 or the date on which the Company has received an occupancy permit, and has a term of ten years, with two renewal options of five years each. The minimum annual rent under the terms of the Lease ranges from approximately $0.8 million in 2022 to $1.0 million in 2031. At the Lease commencement, the Company will relocate its current St. Louis, Missouri operations to the Premises in the new building. The Lease is available in a Form 8-K filed with the Securities and Exchange Commission on March 4, 2021.

VALUATION AND QUALIFYING ACCOUNTS

12 Months Ended

Dec. 31, 2020

SEC Schedule, 12-09, Valuation and Qualifying Accounts [Abstract]

VALUATION AND QUALIFYING ACCOUNTS

SCHEDULE II

VALUATION AND QUALIFYING ACCOUNTS

FOR THE YEARS ENDED DECEMBER 31, 2020 AND 2019

Schedule of Valuation and Qualifying Accounts

			Additions
	Balance at		Charged to
	Beginning of		Cost and						Balance at the
	Year		Expenses			Deductions			End of Year
Allowance for doubtful accounts and returns:
Year ended December 31, 2020	$	380,212		(29,411	)		(227,187	)	$	123,614
Year ended December 31, 2019	$	398,847		(14,535	)		(4,100	)	$	380,212

Allowance for inventories valuation:
Year ended December 31, 2020	$	3,895,451		126,616			(946,547	)	$	3,075,520
Year ended December 31, 2019	$	4,460,811		(351,925	)		(213,435	)	$	3,895,451

Summary of Significant Accounting Policies (Policies)

12 Months Ended

Dec. 31, 2020

Accounting Policies [Abstract]

Basis of Presentation

Basis of Presentation

The accompanying Financial Statements have been prepared in accordance with U.S. generally accepted accounting principles (“U.S. GAAP”).

Cash and Cash Equivalents

Cash and Cash Equivalents

Compensating Cash Arrangement

Compensating Cash Arrangement

Accounts Receivable and Allowance for Uncollectible Accounts

Accounts Receivable and Allowance for Uncollectible Accounts

Financial Instruments

Financial Instruments

Inventory

Inventory

Property and Equipment

Property and Equipment

Long-Lived Assets

Long-Lived Assets

Intangible Assets

Intangible Assets

Use of Estimates

Use of Estimates

Revenue and Costs of Revenue

Revenue and Costs of Revenue

Revenue Recognition

The Company accounts for revenue in accordance with Accounting Standards Codification Topic 606 (“ASC 606”), Revenue from Contracts with Customers.

Our revenue recognition policy affects the following revenue streams in our business as follows:

Systems:

Disposables:

Royalty:

Other Recurring Revenue:

Sublease Revenue:

	Year Ended December 31,
	2020		2019
Systems	$	3,626,284	$	2,066,253
Disposables, service and accessories		22,017,631		25,850,174
Sublease		986,120		986,123
Total revenue	$	26,630,035	$	28,902,550

The following information summarizes the Company’s contract assets and liabilities:

	December 31, 2020			December 31, 2019
Contract Assets - unbilled receivables	$	284,415		$	168,445

Product shipped, revenue deferred	$	645,200		$	674,324
Deferred service and license fees		5,186,485			4,972,389
Total deferred revenue	$	5,831,685		$	5,646,713
Less: Long-term deferred revenue		(548,915	)		(554,258	)
Total current deferred revenue	$	5,282,770		$	5,092,455

Research and Development Costs

Research and Development Costs

Share-Based Compensation

Share-Based Compensation

Shares purchased by employees under the 2009 Employee Stock Purchase Plan are considered to be non-compensatory.

Net Earnings (Loss) per Common Share

Net Earnings (Loss) per Common Share

Income Taxes

Income Taxes

Product Warranty Provisions

Product Warranty Provisions

Patent Costs

Patent Costs

Costs related to filing and pursuing patent applications are expensed as incurred, as recoverability of such expenditures is uncertain.

Concentrations of Risk

Concentrations of Risk

Recently Issued Accounting Pronouncements

Recently Issued Accounting Pronouncements

Summary of Significant Accounting Policies (Tables)

12 Months Ended

Dec. 31, 2020

Accounting Policies [Abstract]

Schedule of Revenue Disaggregated by Type

	Year Ended December 31,
	2020		2019
Systems	$	3,626,284	$	2,066,253
Disposables, service and accessories		22,017,631		25,850,174
Sublease		986,120		986,123
Total revenue	$	26,630,035	$	28,902,550

Summary of Contract Assets and Liabilities

The following information summarizes the Company’s contract assets and liabilities:

	December 31, 2020			December 31, 2019
Contract Assets - unbilled receivables	$	284,415		$	168,445

Product shipped, revenue deferred	$	645,200		$	674,324
Deferred service and license fees		5,186,485			4,972,389
Total deferred revenue	$	5,831,685		$	5,646,713
Less: Long-term deferred revenue		(548,915	)		(554,258	)
Total current deferred revenue	$	5,282,770		$	5,092,455

Inventory (Tables)

12 Months Ended

Dec. 31, 2020

Inventory Disclosure [Abstract]

Schedule of Inventories

Inventory consists of the following:

Schedule of Inventories

	December 31, 2020			December 31, 2019
Raw materials	$	2,950,912		$	3,063,532
Work in process		433,026			515,262
Finished goods		2,987,039			2,164,187
Reserve for obsolescence		(3,075,520	)		(3,895,451	)
Total inventory	$	3,295,457		$	1,847,530

Prepaid Expenses and Other Current Assets (Tables)

12 Months Ended

Dec. 31, 2020

Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]

Schedule of Prepaid Expenses and Other Assets

Prepaid expenses and other assets consist of the following:

	December 31, 2020			December 31, 2019
Prepaid expenses	$	754,062		$	640,252
Prepaid commissions		271,174			336,594
Deposits		855,970			712,179
Other assets		143,323			-
Total prepaid expenses and other assets		2,024,529			1,689,025
Less: Noncurrent prepaid expenses and other assets		(308,515	)		(218,103	)
Total current prepaid expenses and other assets	$	1,716,014		$	1,470,922

Property and Equipment (Tables)

12 Months Ended

Dec. 31, 2020

Property, Plant and Equipment [Abstract]

Schedule of Property and Equipment

Property and equipment consist of the following:

Schedule of Property and Equipment

	December 31, 2020			December 31, 2019
Equipment	$	6,488,984		$	6,485,873
Leasehold improvements		2,338,441			2,338,441
		8,827,425			8,824,314
Less: Accumulated depreciation		(8,632,296	)		(8,573,871	)
Net property and equipment	$	195,129		$	250,443

Leases (Tables)

12 Months Ended

Dec. 31, 2020

Leases [Abstract]

Schedule of Lease Costs and Other Lease Information

The following table represents lease costs and other lease information:

Schedule of Future Minimum Operating Lease Payments

Future minimum payments for operating leases with initial or remaining terms of one year or more as of December 31, 2020, excluding sublease income, were as follows:

	December 31, 2020
2021		2,382,660
Total lease payments		2,382,660
Less: Interest		(95,173	)
Present value of lease liabilities	$	2,287,487

Accrued Liabilities (Tables)

12 Months Ended

Dec. 31, 2020

Payables and Accruals [Abstract]

Schedule of Accrued Liabilities

Accrued liabilities consist of the following:

Schedule of Accrued Liabilities

	December 31, 2020			December 31, 2019
Accrued salaries, bonus, and benefits	$	2,044,826		$	1,421,150
Accrued licenses and maintenance fees		483,879			483,879
Accrued warranties		157,615			141,697
Accrued taxes		172,744			206,232
Accrued professional services		138,359			383,342
Other		343,043			340,321
Total accrued liabilities		3,340,466			2,976,621
Less: Long term accrued liabilities		(131,231	)		(255,517	)
Total current accrued liabilities	$	3,209,235		$	2,721,104

Convertible Preferred Stock and Stockholders’ Equity (Tables)

12 Months Ended

Dec. 31, 2020

Equity [Abstract]

Summary of Reserved Shares of Common Stock

	December 31,		December 31,
	2020		2019
Warrants		15,385		46,155
Series A Convertible Preferred Stock		45,278,096		46,398,904
Series B Convertible Preferred Stock		5,610,121		5,610,121
Stock award plans		2,054,941		3,216,028
Employee Stock Purchase Plan		229,136		261,603
		53,187,679		55,532,811

Summary of Option and Stock Appreciation Rights Activity

A summary of the option and stock appreciation rights activity for the year ended December 31, 2020 is as follows:

	Number of Options/SARs			Range of Exercise Price				Weighted Average Exercise Price per Share
Outstanding, December 31, 2019		1,857,599		$	0.74	-	$36.20	$	2.22
Granted		917,250		$	3.22	-	$5.13	$	4.49
Exercised		(133,852	)	$	0.74	-	$2.15	$	1.27
Forfeited		(184,018	)	$	0.74	-	$36.20	$	5.17
Outstanding, December 31, 2020		2,456,979		$	0.74	-	$35.20	$	2.90

Summary of Option and Stock Appreciation Rights Outstanding by Range of Exercise Price

A summary of the options and stock appreciation rights outstanding by range of exercise price is as follows:

	Year Ended December 31, 2020
									Weighted
									Average
			Weighted Average		Weighted Average		Number of Options		Exercise Price Per
Range of Exercise Prices	Options Outstanding		Remaining Life		Exercise Price		Currently Exercisable		Vested Share
$0.00 - $1.00		568,877		7.17	$	0.74		373,065	$	0.74
$1.01 - $2.00		64,333		4.74	$	1.71		57,642	$	1.79
$2.01- $4.00		883,374		7.93	$	2.11		398,197	$	2.06
$4.01 - $10.00		923,500		8.87	$	4.50		55,750	$	4.09
$10.01 - $20.00		-		-	$	-		-	$	-
$30.01 - $40.00		16,895		0.27	$	33.65		16,895	$	33.65
		2,456,979		7.97	$	2.90		901,549	$	2.21

Summary of Restricted Stock Unit Activity

A summary of the restricted stock unit activity for the year ended December 31, 2020 is as follows:

	Number of Restricted Stock Units			Weighted Average Grant Date Fair Value per Unit
Outstanding, December 31, 2019		840,712		$	1.28
Granted		420,000		$	4.82
Vested		(147,989	)	$	2.44
Forfeited		(250	)	$	0.78
Outstanding, December 31, 2020		1,112,473		$	2.46

Fair Value Measurements (Tables)

12 Months Ended

Dec. 31, 2020

Fair Value Disclosures [Abstract]

Schedule of Assets Measured at Fair Value on a Recurring Basis by Level Within Fair Value Hierarchy

	Fair Value Measurement Using
	Total		Quoted Prices in Active Markets for Identical Instruments (Level 1)		Significant Other Observable Inputs (Level 2)		Significant Unobservable Inputs (Level 3)
Assets at December 31, 2020
Cash invested in Money Market Accounts	$	1,429,331		—	$	1,429,331	$	—
Total assets at fair value	$	1,429,331		—	$	1,429,331	$	—

Income Taxes (Tables)

12 Months Ended

Dec. 31, 2020

Income Tax Disclosure [Abstract]

Schedule of Provision For Income Taxes

The provision for income taxes consists of the following:

Schedule of Provision For Income Taxes

	2020			2019
	Year Ended December 31,
	2020			2019
Deferred:
Federal	$	(1,172,382	)	$	(827,984	)
State and local		22,240			(41,740	)
		(1,150,142	)		(869,724	)
Valuation allowance		1,150,142			869,724
Income tax benefit	$	—		$	—

Schedule of Reconciliation of Federal Income Tax Rate

The provision for income taxes varies from the amount determined by applying the U.S. federal statutory rate to income before income taxes as a result of the following:

	Year Ended December 31,
	2020		2019
U.S. statutory income tax rate		21.0%		21.0%
State and local taxes, net of federal tax benefit		1.8%		1.8%
Permanent differences between book and tax		(3.5)%		(3.3)%
State rate adjustments		(2.2)%		(0.9)%
Prior year return-to-provision adjustment		0.2%		0.3%
Valuation allowance		(17.3)%		(18.9)%
Effective income tax rate		—%		—%

Schedule of Components of Deferred Tax Asset

The components of the deferred tax asset are as follows:

	2020			2019
	December 31,
	2020			2019
Current accruals	$	1,329,681		$	1,660,817
Operating lease liabilities		536,307			1,021,891
Deferred revenue		9,412			2,749
Depreciation and amortization		952,208			1,095,119
Deferred compensation		874,403			576,269
Net operating loss carryovers		25,264,611			23,960,965
Deferred tax assets		28,966,622			28,317,810
Valuation allowance		(28,378,947	)		(27,228,805	)
Net deferred tax assets before deferred tax liabilities		587,675			1,089,005
Operating lease right-of-use assets		(524,105	)		(1,009,721	)
Capitalized compensation costs		(63,570	)		(79,284	)
Net deferred tax assets	$	—		$	—

Net Loss per Share (Tables)

12 Months Ended

Dec. 31, 2020

Net loss per share attributable to common stockholders:

Schedule of Computation of Basic and Diluted Earnings Per Share

The following is a reconciliation of the numerator (net loss) and the denominator (number of shares) used in the basic and diluted earnings per share calculations:

	2020			2019
	Year Ended December 31,
	2020			2019
Net loss	$	(6,646,459	)	$	(4,591,284	)
Cumulative dividend on Series A Convertible Preferred Stock		(1,369,421	)		(1,429,400	)
Net loss attributable to common stockholders	$	(8,015,880	)	$	(6,020,684	)

Weighted average number of common shares and equivalents:		72,746,268			63,051,581
Basic EPS	$	(0.11	)	$	(0.10	)
Diluted EPS	$	(0.11	)	$	(0.10	)

Schedule of Anti-Dilutive Securities Excluded From Computation of Diluted Earnings Per Share

The following table sets forth the number of common shares that were excluded from the computation of diluted earnings per share because their inclusion would have been anti-dilutive as follows:

	December 31,
	2020		2019
Shares issuable upon vesting/exercise of:
Options to purchase common stock		2,456,979		1,857,599
Series A Convertible Preferred Stock and Accumulated Dividends		43,483,062		42,497,068
Series B Convertible Preferred Stock		5,610,121		5,610,121
Restricted stock units		1,112,473		840,712
Warrants		15,385		46,155
		52,678,020		50,851,655

Product Warranty Provisions (Tables)

12 Months Ended

Dec. 31, 2020

Guarantees and Product Warranties [Abstract]

Schedule of Accrued Warranty

Accrued warranty, which is included in other accrued liabilities, consists of the following:

Schedule of Accrued Warranty

	December 31, 2020			December 31, 2019
Warranty accrual, beginning of the fiscal period	$	141,697		$	149,464
Accrual adjustment for product warranty		49,974			56,118
Payments made		(34,056	)		(63,885	)
Warranty accrual, end of the fiscal period	$	157,615		$	141,697

Segment Information (Tables)

12 Months Ended

Dec. 31, 2020

Segment Reporting [Abstract]

Schedule of Geographic Revenues

	Year Ended December 31,
	2020		2019
United States	$	17,442,883	$	19,265,635
International		9,187,152		9,636,915
Total	$	26,630,035	$	28,902,550

VALUATION AND QUALIFYING ACCOUNTS (Tables)

12 Months Ended

Dec. 31, 2020

SEC Schedule, 12-09, Valuation and Qualifying Accounts [Abstract]

Schedule of Valuation and Qualifying Accounts

			Additions
	Balance at		Charged to
	Beginning of		Cost and						Balance at the
	Year		Expenses			Deductions			End of Year
Allowance for doubtful accounts and returns:
Year ended December 31, 2020	$	380,212		(29,411	)		(227,187	)	$	123,614
Year ended December 31, 2019	$	398,847		(14,535	)		(4,100	)	$	380,212

Allowance for inventories valuation:
Year ended December 31, 2020	$	3,895,451		126,616			(946,547	)	$	3,075,520
Year ended December 31, 2019	$	4,460,811		(351,925	)		(213,435	)	$	3,895,451

Schedule of Revenue Disaggregated by Type (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Product Information [Line Items]
Total revenue	$ 26,630,035	$ 28,902,550
Sublease	986,120	986,123
Systems [Member]
Product Information [Line Items]
Total revenue	3,626,284	2,066,253
Disposables, Service and Accessories [Member]
Product Information [Line Items]
Total revenue	$ 22,017,631	$ 25,850,174

- Definition

Amount, excluding tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value added and excise.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 30
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8906-108599

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 40
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e9031-108599

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 41
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e9038-108599

Reference 4: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 32
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8933-108599

Reference 5: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 32
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8933-108599

Reference 6: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 4
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130543-203045

Reference 7: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 22
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8736-108599

Reference 8: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
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-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e8736-108599

Reference 9: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 280
-SubTopic 10
-Section 50
-Paragraph 42
-URI http://asc.fasb.org/extlink&oid=120311839&loc=d3e9054-108599

Reference 10: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 5
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130545-203045

Reference 11: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 924
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SAB Topic 11.L)
-URI http://asc.fasb.org/extlink&oid=6472922&loc=d3e499488-122856

+ Details

Summary of Contract Assets and Liabilities (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Product Information [Line Items]
Contract Assets - unbilled receivables	$ 284,415	$ 168,445
Total deferred revenue	5,831,685	5,646,713
Less: Long-term deferred revenue	(548,915)	(554,258)
Total current deferred revenue	5,282,770	5,092,455
Product Shipped, Revenue Deferred [Member]
Product Information [Line Items]
Total deferred revenue	645,200	674,324
Deferred Service and License Fees [Member]
Product Information [Line Items]
Total deferred revenue	$ 5,186,485	$ 4,972,389

Summary of Significant Accounting Policies (Details Narrative) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Jul. 31, 2020
Product Information [Line Items]
Restricted Cash and Cash Equivalents	$ 0	$ 0
Compensating Balance, Amount	250,620
Revenue, Remaining Performance Obligation, Amount	6,900,000
Contract with Customer, Liability, Revenue Recognized	5,000,000.0	5,600,000
Capitalized Contract Cost, Net	$ 300,000	$ 300,000
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	52,678,020	50,851,655
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price	$ 2.90	$ 2.22
Class of Warrant or Right, Exercise Price of Warrants or Rights	$ 0.70
Revenue from Contract with Customer, Excluding Assessed Tax	$ 26,630,035	$ 28,902,550
Series A Convertible Preferred Stock [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	43,483,062
Series B Convertible Preferred Stock [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	5,610,121
Warrant [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	15,385
Class of Warrant or Right, Exercise Price of Warrants or Rights	$ 0.70
Stock Options and Stock Appreciation Rights [Member]
Product Information [Line Items]
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount	2,456,979
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price	$ 2.90
Restricted Stock [Member]
Product Information [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number	1,112,473
Revenue From System Delivery and Installation [Member]
Product Information [Line Items]
Concentration Risk, Percentage	14.00%	7.00%
Disposable Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	28.00%	33.00%
Royalty Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	8.00%	10.00%
Other Recurring Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	46.00%	47.00%
Sublease Revenue [Member]
Product Information [Line Items]
Concentration Risk, Percentage	4.00%	3.00%
Revenue from Contract with Customer Benchmark [Member] \| Biosense Webster Inc [Member] \| Customer Concentration Risk [Member]
Product Information [Line Items]
Concentration Risk, Percentage		1000.00%
Revenue from Contract with Customer, Excluding Assessed Tax		$ 2,800,000
Revenue from Contract with Customer Benchmark [Member] \| Finland accounted [Member] \| Customer Concentration Risk [Member]
Product Information [Line Items]
Concentration Risk, Percentage	10.00%
Revenue from Contract with Customer, Excluding Assessed Tax	$ 2,700,000
Minimum [Member]
Product Information [Line Items]
Property, Plant and Equipment, Useful Life	3 years
Finite-Lived Intangible Asset, Useful Life	10 years
Maximum [Member]
Product Information [Line Items]
Property, Plant and Equipment, Useful Life	10 years
Finite-Lived Intangible Asset, Useful Life	15 years
Systems [Member]
Product Information [Line Items]
Money Market Funds, at Carrying Value	$ 1,400,000
Revenue from Contract with Customer, Excluding Assessed Tax	3,626,284	$ 2,066,253
Systems [Member] \| Maximum [Member]
Product Information [Line Items]
Product Warranty Expense	$ 100,000
Letter of Credit [Member]
Product Information [Line Items]
Long-term Line of Credit			$ 300,000
Compensating Balance, Amount			$ 300,000

Schedule of Inventories (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Inventory Disclosure [Abstract]
Raw materials	$ 2,950,912	$ 3,063,532
Work in process	433,026	515,262
Finished goods	2,987,039	2,164,187
Reserve for obsolescence	(3,075,520)	(3,895,451)
Total inventory	$ 3,295,457	$ 1,847,530

Schedule of Prepaid Expenses and Other Assets (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Deferred Costs, Capitalized, Prepaid, and Other Assets Disclosure [Abstract]
Prepaid expenses	$ 754,062	$ 640,252
Prepaid commissions	271,174	336,594
Deposits	855,970	712,179
Other assets	143,323
Total prepaid expenses and other assets	2,024,529	1,689,025
Less: Noncurrent prepaid expenses and other assets	(308,515)	(218,103)
Total current prepaid expenses and other assets	$ 1,716,014	$ 1,470,922

Schedule of Property and Equipment (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Property, Plant and Equipment [Line Items]
Gross property and equipment	$ 8,827,425	$ 8,824,314
Less: Accumulated depreciation	(8,632,296)	(8,573,871)
Net property and equipment	195,129	250,443
Equipment [Member]
Property, Plant and Equipment [Line Items]
Gross property and equipment	6,488,984	6,485,873
Leasehold Improvements [Member]
Property, Plant and Equipment [Line Items]
Gross property and equipment	$ 2,338,441	$ 2,338,441

Schedule of Lease Costs and Other Lease Information (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Leases [Abstract]
Operating lease cost	$ 2,340,428	$ 2,342,344
Short-term lease cost	66,865	77,185
Sublease income	(986,120)	(986,123)
Total net lease cost	1,421,173	1,433,406
Cash paid within operating cash flows	$ 2,486,309	$ 2,458,606

Schedule of Future Minimum Operating Lease Payments (Details)	Dec. 31, 2020 USD ($)
Leases [Abstract]
2021	$ 2,382,660
Total lease payments	2,382,660
Less: Interest	(95,173)
Present value of lease liabilities	$ 2,287,487

Leases (Details Narrative) - USD ($) $ in Millions	Dec. 31, 2020	Jan. 02, 2019
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Operating Lease, Weighted Average Discount Rate, Percent	9.00%
Operating Lease, Weighted Average Remaining Lease Term	1 year
[custom:LesseeOperatingSubLeaseReceivableOnUndiscountedExcessAmountlYearOne-0]	$ 1.0
Accounting Standards Update 2016-02 [Member]
New Accounting Pronouncements or Change in Accounting Principle [Line Items]
Operating Lease, Right-of-Use Asset		$ 6.2

Schedule of Accrued Liabilities (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Payables and Accruals [Abstract]
Accrued salaries, bonus, and benefits	$ 2,044,826	$ 1,421,150
Accrued licenses and maintenance fees	483,879	483,879
Accrued warranties	157,615	141,697
Accrued taxes	172,744	206,232
Accrued professional services	138,359	383,342
Other	343,043	340,321
Total accrued liabilities	3,340,466	2,976,621
Less: Long term accrued liabilities	(131,231)	(255,517)
Total current accrued liabilities	$ 3,209,235	$ 2,721,104

Debt and Credit Facilities (Details Narrative) - USD ($)		12 Months Ended
	Apr. 20, 2020	Dec. 31, 2020	Dec. 31, 2019
Line of Credit Facility [Line Items]
Proceeds from Bank Debt		$ 2,158,310
Cares Act [Member]
Line of Credit Facility [Line Items]
Debt Instrument, Description	In accordance with the loan forgiveness requirements of the CARES Act, the Company used the full proceeds from the PPP Loan primarily for payroll costs, rent and utilities.
Paycheck Protection Program [Member]
Line of Credit Facility [Line Items]
Proceeds from Bank Debt	$ 2,158,310
Debt Instrument, Interest Rate, Stated Percentage	1.00%
Revolving Credit Facility [Member] \| Primary Lender [Member]
Line of Credit Facility [Line Items]
Line of Credit Facility, Expiration Date		Jun. 30, 2020

- Definition

Identification of the lender and information about a contractual promise to repay a short-term or long-term obligation, which includes borrowings under lines of credit, notes payable, commercial paper, bonds payable, debentures, and other contractual obligations for payment. This may include rationale for entering into the arrangement, significant terms of the arrangement, which may include amount, repayment terms, priority, collateral required, debt covenants, borrowing capacity, call features, participation rights, conversion provisions, sinking-fund requirements, voting rights, basis for conversion if convertible and remarketing provisions. The description may be provided for individual debt instruments, rational groupings of debt instruments, or by debt in total.

+ References + Details

Summary of Reserved Shares of Common Stock (Details) - shares	Dec. 31, 2020	Dec. 31, 2019
Class of Stock [Line Items]
Reserved shares of common stock	53,187,679	55,532,811
Stock Award Plans [Member]
Class of Stock [Line Items]
Reserved shares of common stock	2,054,941	3,216,028
Employee Stock Purchase Plan [Member]
Class of Stock [Line Items]
Reserved shares of common stock	229,136	261,603
Series A Convertible Preferred Stock [Member]
Class of Stock [Line Items]
Reserved shares of common stock	45,278,096	46,398,904
Series B Convertible Preferred Stock [Member]
Class of Stock [Line Items]
Reserved shares of common stock	5,610,121	5,610,121
Warrant [Member]
Class of Stock [Line Items]
Reserved shares of common stock	15,385	46,155

Summary of Option and Stock Appreciation Rights Activity (Details)	12 Months Ended
	Dec. 31, 2020 $ / shares shares
SEC Schedule, 12-18, Supplemental Information, Property-Casualty Insurance Underwriters [Line Items]
Number of Options/SARs, Outstanding, Beginning Balance \| shares	1,857,599
Weighted Average Exercise Price per Share, Outstanding, Beginning Balance	$ 2.22
Number of Options/SARs, Granted \| shares	917,250
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price	$ 4.49
Number of Options/SARs, Exercised \| shares	(133,852)
Share-based Compensation Arrangements by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price	$ 1.27
Number of Options/SARs, Forfeited \| shares	(184,018)
Share-based Compensation Arrangements by Share-based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price	$ 5.17
Number of Options/SARs, Outstanding, Beginning Balance \| shares	2,456,979
Weighted Average Exercise Price per Share, Outstanding, Beginning Balance	$ 2.90
Minimum [Member]
SEC Schedule, 12-18, Supplemental Information, Property-Casualty Insurance Underwriters [Line Items]
Range of Exercise Price, Begining Balance	0.74
Range of Exercise Price, Granted	3.22
Range of Exercise Price, Exercised	0.74
Range of Exercise Price, Forfeited	0.74
Range of Exercise Price, Ending Balance	0.74
Maximum [Member]
SEC Schedule, 12-18, Supplemental Information, Property-Casualty Insurance Underwriters [Line Items]
Range of Exercise Price, Begining Balance	36.20
Range of Exercise Price, Granted	5.13
Range of Exercise Price, Exercised	2.15
Range of Exercise Price, Forfeited	36.20
Range of Exercise Price, Ending Balance	$ 35.20

Summary of Option and Stock Appreciation Rights Outstanding by Range of Exercise Price (Details) - Stock Option and Stock Appreciation Rights (SARs) [Member]	12 Months Ended
	Dec. 31, 2020 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Options Outstanding \| shares	2,456,979
Weighted Average Remaining Life	7 years 11 months 19 days
Weighted Average Exercise Price	$ 2.90
Number of Options Currently Exercisable \| shares	901,549
Weighted Average Exercise Price per Vested Share	$ 2.21
Range of Exercise Prices One [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit	0.00
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit	$ 1.00
Options Outstanding \| shares	568,877
Weighted Average Remaining Life	7 years 2 months 1 day
Weighted Average Exercise Price	$ 0.74
Number of Options Currently Exercisable \| shares	373,065
Weighted Average Exercise Price per Vested Share	$ 0.74
Range of Exercise Prices Two [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit	1.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit	$ 2.00
Options Outstanding \| shares	64,333
Weighted Average Remaining Life	4 years 8 months 26 days
Weighted Average Exercise Price	$ 1.71
Number of Options Currently Exercisable \| shares	57,642
Weighted Average Exercise Price per Vested Share	$ 1.79
Range of Exercise Prices Three [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit	2.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit	$ 4.00
Options Outstanding \| shares	883,374
Weighted Average Remaining Life	7 years 11 months 4 days
Weighted Average Exercise Price	$ 2.11
Number of Options Currently Exercisable \| shares	398,197
Weighted Average Exercise Price per Vested Share	$ 2.06
Range of Exercise Prices Four [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit	4.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit	$ 10.00
Options Outstanding \| shares	923,500
Weighted Average Remaining Life	8 years 10 months 13 days
Weighted Average Exercise Price	$ 4.50
Number of Options Currently Exercisable \| shares	55,750
Weighted Average Exercise Price per Vested Share	$ 4.09
Range of Exercise Prices Five [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit	10.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit	$ 20.00
Options Outstanding \| shares
Weighted Average Remaining Life	0 years
Weighted Average Exercise Price
Number of Options Currently Exercisable \| shares
Weighted Average Exercise Price per Vested Share
Range of Exercise Prices Six [Member]
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Share-based Payment Arrangement, Option, Exercise Price Range, Lower Range Limit	30.01
Share-based Payment Arrangement, Option, Exercise Price Range, Upper Range Limit	$ 40.00
Options Outstanding \| shares	16,895
Weighted Average Remaining Life	3 months 7 days
Weighted Average Exercise Price	$ 33.65
Number of Options Currently Exercisable \| shares	16,895
Weighted Average Exercise Price per Vested Share	$ 33.65

Summary of Restricted Stock Unit Activity (Details) - Restricted Stock Units (RSUs) [Member]	12 Months Ended
	Dec. 31, 2020 $ / shares shares
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]
Number of Restricted Stock Units, Outstanding, Beginning \| shares	840,712
Weighted Average Grant Date Fair Value Per Unit, Outstanding, Beginning \| $ / shares	$ 1.28
Number of Restricted Stock Units, Granted \| shares	420,000
Weighted Average Grant Date Fair Value Per Unit, Granted \| $ / shares	$ 4.82
Number of Restricted Stock Units, Vested \| shares	(147,989)
Weighted Average Grant Date Fair Value Per Unit, Vested \| $ / shares	$ 2.44
Number of Restricted Stock Units, Forfeited \| shares	(250)
Weighted Average Grant Date Fair Value Per Unit, Forfeited \| $ / shares	$ 0.78
Number of Restricted Stock Units, Outstanding, Ending \| shares	1,112,473
Weighted Average Grant Date Fair Value Per Unit, Outstanding, Ending \| $ / shares	$ 2.46

Convertible Preferred Stock and Stockholders’ Equity (Details Narrative) - USD ($)			1 Months Ended			12 Months Ended
	May 25, 2020	Aug. 07, 2019	May 31, 2019	Sep. 30, 2016	Jun. 30, 2014	Dec. 31, 2020	Dec. 31, 2019
Subsidiary, Sale of Stock [Line Items]
Number of stockholders votes, description						one
Payments of Ordinary Dividends, Common Stock						$ 0
Common Stock, Par or Stated Value Per Share						$ 0.001	$ 0.001
Preferred Stock, Par or Stated Value Per Share						0.001	$ 0.001
Class of Warrant or Right, Exercise Price of Warrants or Rights						$ 0.70
Class of Warrant or Right, Date from which Warrants or Rights Exercisable						Sep. 29, 2021
Common Stock, Capital Shares Reserved for Future Issuance						53,187,679	55,532,811
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number						2,456,979	1,857,599
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount						$ 3,200,000
Weighted average amortization period of total compensation cost not yet recognized, description						four years
2012 Stock Incentive Plan [Member]
Subsidiary, Sale of Stock [Line Items]
Stock plan expiration date						Mar. 25, 2012
2012 Stock Incentive Plan [Member] \| Director [Member] \| Minimum [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						1 year
2012 Stock Incentive Plan [Member] \| Director [Member] \| Maximum [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						5 years
2012 Stock Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period						10 years
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent						100.00%
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage						25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						3 years
2012 Stock Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member] \| Non-employee Directors [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period						10 years
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent						100.00%
2012 Stock Incentive Plan [Member] \| Stock Appreciation Rights (SARs) [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period						10 years
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage						25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						3 years
2012 Stock Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period						4 years
Share Price						$ 5.09
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Outstanding						$ 5,700,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Vested						$ 600,000
2012 Stock Incentive Plan [Member] \| Stock Options and Stock Appreciation Rights (SARs) [Member]
Subsidiary, Sale of Stock [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term						7 years 11 months 19 days
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number						2,456,979
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Number						901,549
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Exercise Price						$ 2.21
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term						6 years 9 months 21 days
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value						$ 5,900,000	$ 6,600,000
Share Price						$ 5.09	$ 5.29
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested, Number of Shares						884,654	494,137
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value						$ 400,000	$ 400,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value						$ 4.49	$ 2.12
Stock Award Plans [Member]
Subsidiary, Sale of Stock [Line Items]
Common Stock, Capital Shares Reserved for Future Issuance						2,054,941	3,216,028
2009 Employee Stock Purchase Plan (""ESPP"") [Member]
Subsidiary, Sale of Stock [Line Items]
Common Stock, Capital Shares Reserved for Future Issuance						229,136
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized			250,000		250,000
Eligible employees term						3 months
Maximum purchase percentage of employees compensation						15.00%
Maximum fair value of shares subject to repurchase obligation						$ 25,000
Maximum fair value percentage of shares subject to repurchase obligation						95.00%
Series A Convertible Preferred Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction				24,000
Preferred Stock, Par or Stated Value Per Share				$ 1,000
Preferred stock par value per share				0.001
Preferred Stock, Redemption Price Per Share				$ 0.65
Class of Warrant or Right, Number of Securities Called by Warrants or Rights				36,923,078
Preferred Stock, Dividend Rate, Percentage				6.00%
Preferred stock redemption, triggering event, Percent of common stock sold threshold				50.00%
Common Stock, Capital Shares Reserved for Future Issuance						45,278,096	46,398,904
Direct Registered Offering [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Consideration Received on Transaction	$ 15,000,000.0
Direct Registered Offering [Member] \| Common Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction	3,658,537
Common Stock, Par or Stated Value Per Share	$ 0.001
Sale of Stock, Price Per Share	$ 4.10
Private Placement [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Consideration Received on Transaction		$ 23,100,000
Private Placement [Member] \| Common Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction		6,585,000
Common Stock, Par or Stated Value Per Share		$ 0.001
Sale of Stock, Price Per Share		$ 2.05
Private Placement [Member] \| Series B Convertible Preferred Stock [Member]
Subsidiary, Sale of Stock [Line Items]
Sale of Stock, Number of Shares Issued in Transaction		5,610,121
Preferred Stock, Par or Stated Value Per Share		$ 0.001
Convertible securities, conversion price per share		$ 2.05

Schedule of Assets Measured at Fair Value on a Recurring Basis by Level Within Fair Value Hierarchy (Details)	Dec. 31, 2020 USD ($)
Cash invested in Money Market Accounts [Member] \| Fair Value, Inputs, Level 2 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value	$ 1,429,331
Fair Value, Recurring [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value	1,429,331
Fair Value, Recurring [Member] \| Fair Value, Inputs, Level 1 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value
Fair Value, Recurring [Member] \| Fair Value, Inputs, Level 2 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value	1,429,331
Fair Value, Recurring [Member] \| Fair Value, Inputs, Level 3 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value
Fair Value, Recurring [Member] \| Cash invested in Money Market Accounts [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value	1,429,331
Fair Value, Recurring [Member] \| Cash invested in Money Market Accounts [Member] \| Fair Value, Inputs, Level 1 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value
Fair Value, Recurring [Member] \| Cash invested in Money Market Accounts [Member] \| Fair Value, Inputs, Level 2 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value	1,429,331
Fair Value, Recurring [Member] \| Cash invested in Money Market Accounts [Member] \| Fair Value, Inputs, Level 3 [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Total assets at fair value

Fair Value Measurements (Details Narrative)	Dec. 31, 2020 USD ($)
Fair Value, Inputs, Level 2 [Member] \| Cash invested in Money Market Accounts [Member]
Fair Value, Assets and Liabilities Measured on Recurring and Nonrecurring Basis [Line Items]
Assets, Fair Value Disclosure	$ 1,429,331

Schedule of Provision For Income Taxes (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Federal	$ (1,172,382)	$ (827,984)
State and local	22,240	(41,740)
Total deferred income tax expense (benefit)	(1,150,142)	(869,724)
Valuation allowance	1,150,142	869,724
Income tax benefit

- Definition

Amount of current income tax expense (benefit) and deferred income tax expense (benefit) pertaining to continuing operations.

+ References + Details

Schedule of Reconciliation of Federal Income Tax Rate (Details)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
U.S. statutory income tax rate	21.00%	21.00%
State and local taxes, net of federal tax benefit	1.80%	1.80%
Permanent differences between book and tax	(3.50%)	(3.30%)
State rate adjustments	(2.20%)	(0.90%)
Prior year return-to-provision adjustment	0.20%	0.30%
Valuation allowance	(17.30%)	(18.90%)
Effective income tax rate	0.00%	0.00%

Schedule of Components of Deferred Tax Asset (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Income Tax Disclosure [Abstract]
Current accruals	$ 1,329,681	$ 1,660,817
Operating lease liabilities	536,307	1,021,891
Deferred revenue	9,412	2,749
Depreciation and amortization	952,208	1,095,119
Deferred compensation	874,403	576,269
Net operating loss carryovers	25,264,611	23,960,965
Deferred tax assets	28,966,622	28,317,810
Valuation allowance	(28,378,947)	(27,228,805)
Net deferred tax assets before deferred tax liabilities	587,675	1,089,005
Operating lease right-of-use assets	(524,105)	(1,009,721)
Capitalized compensation costs	(63,570)	(79,284)
Net deferred tax assets

Income Taxes (Details Narrative) - USD ($) $ in Millions	12 Months Ended
Income Taxes (Details Narrative) - USD ($) $ in Millions	Dec. 31, 2020	Dec. 31, 2019
Operating Loss Carryforwards [Line Items]
Operating Loss Carryforwards	$ 111.0
[custom:OperatingLossCarryforwardsLimitationsOnUseAmount-0]	106.5
Liability for Uncertainty in Income Taxes, Noncurrent	0.1	$ 0.1
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued	0.1
Domestic Tax Authority [Member]
Operating Loss Carryforwards [Line Items]
[custom:OperatingLossCarryforwardsLimitationsOnUseAmount-0]	$ 270.8
Operating loss carryforwards, expiration date description	The federal net operating loss carryforwards generated prior to the 2018 tax year will expire between 2030 and 2037.
State and Local Jurisdiction [Member]
Operating Loss Carryforwards [Line Items]
[custom:OperatingLossCarryforwardsLimitationsOnUseAmount-0]	$ 34.2
Operating loss carryforwards, expiration date description	expire at various dates between 2021 and 2040 if not utilized.
Number of prior years subject to examination	10 years

Schedule of Computation of Basic and Diluted Earnings Per Share (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Net loss per share attributable to common stockholders:
Net loss	$ (6,646,459)	$ (4,591,284)
Cumulative dividend on Series A Convertible Preferred Stock	(1,369,421)	(1,429,400)
Loss attributable to common stockholders	$ (8,015,880)	$ (6,020,684)
Weighted average number of common shares and equivalents:	72,746,268	63,051,581
Basic EPS	$ (0.11)	$ (0.10)
Diluted EPS	$ (0.11)	$ (0.10)

- Definition

The amount of net income (loss) for the period per each share of common stock or unit outstanding during the reporting period.

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The amount of net income (loss) for the period available to each share of common stock or common unit outstanding during the reporting period and to each share or unit that would have been outstanding assuming the issuance of common shares or units for all dilutive potential common shares or units outstanding during the reporting period.

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The portion of profit or loss for the period, net of income taxes, which is attributable to the parent.

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- Definition

Amount, after deduction of tax, noncontrolling interests, dividends on preferred stock and participating securities; of income (loss) available to common shareholders.

+ References

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+ Details

Schedule of Anti-Dilutive Securities Excluded From Computation of Diluted Earnings Per Share (Details) - shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive common shares excluded from the computation of diluted earnings per share	52,678,020	50,851,655
Options to Purchase Common Stock [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive common shares excluded from the computation of diluted earnings per share	2,456,979	1,857,599
Series A Convertible Preferred Stock and Accumulated Dividends [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive common shares excluded from the computation of diluted earnings per share	43,483,062	42,497,068
Series B Convertible Preferred Stock [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive common shares excluded from the computation of diluted earnings per share	5,610,121	5,610,121
Restricted Stock Units (RSUs) [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive common shares excluded from the computation of diluted earnings per share	1,112,473	840,712
Warrant [Member]
Antidilutive Securities Excluded from Computation of Earnings Per Share [Line Items]
Anti-dilutive common shares excluded from the computation of diluted earnings per share	15,385	46,155

Employee Benefit Plan (Details Narrative) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
Retirement Benefits [Abstract]
Defined Contribution Plan, Cost	$ 0.3	$ 0.2
Defined Contribution Plan, Employer Matching Contribution, Percent of Employees' Gross Pay		3.00%

Schedule of Accrued Warranty (Details) - USD ($)	12 Months Ended
Schedule of Accrued Warranty (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Guarantees and Product Warranties [Abstract]
Warranty accrual, beginning of the fiscal period	$ 141,697	$ 149,464
Accrual adjustment for product warranty	49,974	56,118
Payments made	(34,056)	(63,885)
Warranty accrual, end of the fiscal period	$ 157,615	$ 141,697

Product Warranty Provisions (Details Narrative)	12 Months Ended
Product Warranty Provisions (Details Narrative)	Dec. 31, 2020
Guarantees and Product Warranties [Abstract]
Standard product warranty coverage term	one

Schedule of Geographic Revenues (Details) - USD ($)	12 Months Ended
Schedule of Geographic Revenues (Details) - USD ($)	Dec. 31, 2020	Dec. 31, 2019
Segment Reporting Information [Line Items]
Total	$ 26,630,035	$ 28,902,550
Operating Segments [Member] \| UNITED STATES
Segment Reporting Information [Line Items]
Total	17,442,883	19,265,635
Operating Segments [Member] \| Non-US [Member]
Segment Reporting Information [Line Items]
Total	$ 9,187,152	$ 9,636,915

- Definition

+ References

+ Details

Subsequent Events (Details Narrative)			12 Months Ended
Subsequent Events (Details Narrative)	Mar. 01, 2021 USD ($) ft²	Feb. 23, 2021 shares	Dec. 31, 2020 USD ($)	Dec. 31, 2019 USD ($)
Subsequent Event [Line Items]
Operating Lease, Cost			$ 2,340,428	$ 2,342,344
Subsequent Event [Member]
Subsequent Event [Line Items]
Lease effective date	Jan. 01, 2022
PSU Agreement [Member] \| Mr. Fischel [Member] \| Common Stock [Member] \| Subsequent Event [Member]
Subsequent Event [Line Items]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period \| shares		13,000,000
Office Lease Agreement [Member] \| Subsequent Event [Member] \| Globe Building Company [Member] \| Office Space and Manufacturing Facilities [Member]
Subsequent Event [Line Items]
Area of Land \| ft²	43,100
Lessee, Operating Lease, Term of Contract	10 years
Lessee, Operating Lease, Option to Extend	two renewal options of five years each
Lessee, Operating Lease, Renewal Term	5 years
Office Lease Agreement [Member] \| Subsequent Event [Member] \| Globe Building Company [Member] \| Office Space and Manufacturing Facilities [Member] \| Minimum Annual Rent in 2022 [Member]
Subsequent Event [Line Items]
Operating Lease, Cost	$ 800,000
Office Lease Agreement [Member] \| Subsequent Event [Member] \| Globe Building Company [Member] \| Office Space and Manufacturing Facilities [Member] \| Minimum Annual Rent in 2031 [Member]
Subsequent Event [Line Items]
Operating Lease, Cost	$ 1,000,000.0

Schedule of Valuation and Qualifying Accounts (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019
SEC Schedule, 12-09, Allowance, Loan and Lease Loss [Member]
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]
Balance at Beginning of Year	$ 380,212	$ 398,847
Additions Charged to Cost and Expenses	(29,411)	(14,535)
Deductions	(227,187)	(4,100)
Balance at the End of Year	123,614	380,212
SEC Schedule, 12-09, Reserve, Inventory [Member]
SEC Schedule, 12-09, Valuation and Qualifying Accounts Disclosure [Line Items]
Balance at Beginning of Year	3,895,451	4,460,811
Additions Charged to Cost and Expenses	126,616	(351,925)
Deductions	(946,547)	(213,435)
Balance at the End of Year	$ 3,075,520	$ 3,895,451