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Stock Option Plans and Warrants to Purchase Common Stock (Details) - USD ($)
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock Option Plans and Warrants to Purchase Common Stock (Details) [Line Items]      
Weighted average exercise price (in Dollars per share) $ 0.85 $ 1.19  
Options outstanding 2,115,825 1,933,804 1,506,972
Total compensation cost (in Dollars) $ 457,000    
Stock Option Plans [Member]      
Stock Option Plans and Warrants to Purchase Common Stock (Details) [Line Items]      
Exercisable options 1,548,346    
Weighted average exercise price (in Dollars per share) $ 2.89    
Exercisable, weighted average remaining contractual term 6 years 11 months 1 day    
Options outstanding 2,115,825    
Weighted Average Remaining Term 7 years 6 months 18 days    
Stock options awarded 452,189 520,812  
Fair value per share (in Dollars per share) $ 0.56 $ 0.97