Stockholders' Equity - Schedule of Information about All Stock Options Outstanding (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	2,027,350	2,193,288	3,516,225
Options Outstanding, Weighted Average Exercise Price	$ 1.38	$ 1.23	$ 0.63
Number Exercisable	1,023,975	978,350
Number Exercisable, Weighted Average Exercise Price	$ 0.97	$ 0.60
Exercise Price $0.40 to $0.53 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	503,100
Options Outstanding, Weighted Average Remaining Life (years)	4 years 3 months 18 days
Options Outstanding, Weighted Average Exercise Price	$ 0.45
Number Exercisable	495,600
Number Exercisable, Weighted Average Remaining Life (years)	4 years 4 months 24 days
Number Exercisable, Weighted Average Exercise Price	$ 0.45
Exercise Price $0.70 to $0.95 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	354,875
Options Outstanding, Weighted Average Remaining Life (years)	6 years 9 months 18 days
Options Outstanding, Weighted Average Exercise Price	$ 0.79
Number Exercisable	240,125
Number Exercisable, Weighted Average Remaining Life (years)	6 years 9 months 18 days
Number Exercisable, Weighted Average Exercise Price	$ 0.79
Exercise Price $1.37 to $1.90 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	877,500
Options Outstanding, Weighted Average Remaining Life (years)	8 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price	$ 1.66
Number Exercisable	196,375
Number Exercisable, Weighted Average Remaining Life (years)	8 years 8 months 12 days
Number Exercisable, Weighted Average Exercise Price	$ 1.63
Exercise Price $2.77 to $3.33 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	291,875
Options Outstanding, Weighted Average Remaining Life (years)	8 years 3 months 18 days
Options Outstanding, Weighted Average Exercise Price	$ 2.85
Number Exercisable	91,875
Number Exercisable, Weighted Average Remaining Life (years)	8 years 4 months 24 days
Number Exercisable, Weighted Average Exercise Price	$ 2.84