Stockholders' Equity - Schedule of Other Stock Options Issued (Details) - shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning of year	2,027,350	2,193,288
Options exercised	(102,125)	(339,125)
Options forfeited	(129,875)	(106,313)
Options outstanding, end of year	2,265,350	2,027,350
Other Options Issued [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning of year	383,125	404,375
Options issued	0	0
Options exercised	0	(21,250)
Options forfeited	0	0
Options outstanding, end of year	383,125	383,125