Stock Option Plans and Warrants to Purchase Common Stock - Schedule of weighted-average exercise price, by price range, for outstanding options to purchase common stock (Details) - Stock options	12 Months Ended
	Dec. 31, 2021 shares
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of weighted-average exercise price, by price range, for outstanding options to purchase common stock [Line Items]
Weighted Average Remaining Contractual Life in Years	7 years 6 months 18 days
Outstanding Options	2,115,825
Exercisable Options	1,548,346
$0.71-$2.79 [Member]
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of weighted-average exercise price, by price range, for outstanding options to purchase common stock [Line Items]
Weighted Average Remaining Contractual Life in Years	7 years 11 months 19 days
Outstanding Options	1,941,203
Exercisable Options	1,373,724
$6.40-$15.60 [Member]
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of weighted-average exercise price, by price range, for outstanding options to purchase common stock [Line Items]
Weighted Average Remaining Contractual Life in Years	3 years 1 month 17 days
Outstanding Options	129,310
Exercisable Options	129,310
$20.00-$39.80 [Member]
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of weighted-average exercise price, by price range, for outstanding options to purchase common stock [Line Items]
Weighted Average Remaining Contractual Life in Years	2 years
Outstanding Options	45,312
Exercisable Options	45,312