Annual report pursuant to Section 13 and 15(d)

Commitments and Contingencies Schedule of Minimum Lease Payments (Details)

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Commitments and Contingencies Schedule of Minimum Lease Payments (Details) - USD ($)
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2019
Loss Contingencies [Line Items]      
Lease termination costs incurred $ 224,000 $ 72,000  
Leases, Operating [Abstract]      
2020     $ 764,000
2021     712,000
2022     672,000
2023     294,000
2024     114,000
Thereafter     0
Total undiscounted lease payments     2,556,000
Less amount representing interest     (382,000)
Present value of lease liabilities     2,174,000
Lessee, Finance Lease, Description [Abstract]      
2020     91,000
2021     80,000
2022     5,000
2023     0
2024     0
Thereafter     0
Total undiscounted lease payments     176,000
Less amount representing interest     (10,000)
Present value of lease liabilities     $ 166,000
London, United Kingdom      
Loss Contingencies [Line Items]      
Lease termination costs incurred 0 72,000  
Minneapolis Headquarters      
Loss Contingencies [Line Items]      
Lease termination costs incurred $ 224,000 $ 0