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Stock Option Plans and Warrants to Purchase Common Stock - Schedule of warrant activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of warrant activity [Line Items]    
Warrants, Granted 452,189 520,812
Weighted Average Exercise Price, Granted $ 0.91 $ 2.17
Exercise of common stock options (in shares) 30,254 5,758
Weighted Average Exercise Price, Exercised $ 0.85 $ 1.19
Warrants    
Stock Option Plans and Warrants to Purchase Common Stock (Details) - Schedule of warrant activity [Line Items]    
Warrants opening, Balance 5,731,477 6,192,711
Weighted Average Exercise Price opening, Balance $ 2.96 $ 2.88
Warrants closing, Balance 3,328,072 5,731,477
Weighted Average Exercise Price closing, Balance $ 2.25 $ 2.96
Exercise of common stock options (in shares) (20) (461,234)
Weighted Average Exercise Price, Exercised $ 3.95 $ 1.87
Warrants, Expired (2,403,385)  
Weighted Average Exercise Price, Expired $ 3.95