Stock Option Plans and Warrants to Purchase Common Stock - Schedule of activity under the 2005 plan and the 2015 plan (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Schedule of activity under the 2005 plan and the 2015 plan [Abstract]
Options outstanding beginning balance	1,933,804	1,506,972
Weighted Average Options Exercise Price outstanding beginning balance	$ 2.96	$ 3.77
Options outstanding ending balance	2,115,825	1,933,804
Weighted Average Options Exercise Price outstanding ending balance	$ 2.48	$ 2.96
Options Granted	452,189	520,812
Weighted Average Options Exercise Price Granted	$ 0.91	$ 2.17
Options Forfeited	(239,914)	(88,222)
Weighted Average Options Exercise Price Forfeited	$ 3.65	$ 13.06
Options Exercised	(30,254)	(5,758)
Weighted Average Options Exercise Price Exercised	$ 0.85	$ 1.19