Annual report pursuant to Section 13 and 15(d)

Nature of Operations and Summary of Significant Accounting Policies - Schedule of Stock Based Compensation (Details)

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Nature of Operations and Summary of Significant Accounting Policies - Schedule of Stock Based Compensation (Details) - USD ($)
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Dec. 31, 2017
Total stock based compensation expense $ 7,338,000 $ 8,178,000 $ 4,644,000
Stock Option [Member]      
Total stock based compensation expense 7,338,000 8,178,000 4,644,000
Tax benefit
Stock based compensation expense, net of tax 7,338,000 8,178,000 4,644,000
Stock Option [Member] | Research and Development Expense [Member]      
Total stock based compensation expense 3,932,000 3,913,000 1,668,000
Stock Option [Member] | Selling General and Administrative Expenses [Member]      
Total stock based compensation expense 3,406,000 4,265,000 2,976,000
Restricted Stock [Member]      
Total stock based compensation expense 899,000 688,000 1,272,000
Tax benefit
Stock based compensation expense, net of tax 899,000 688,000 1,272,000
Restricted Stock [Member] | Research and Development Expense [Member]      
Total stock based compensation expense 454,000
Restricted Stock [Member] | Selling General and Administrative Expenses [Member]      
Total stock based compensation expense $ 445,000 $ 688,000 $ 1,272,000