Stockholders' Equity - Schedule of Information about All Stock Options Outstanding (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	2,265,350	2,027,350	2,193,288
Options Outstanding, Weighted Average Exercise Price	$ 1.71	$ 1.38	$ 1.23
Number Exercisable	1,275,225	1,023,975
Number Exercisable, Weighted Average Exercise Price	$ 1.02	$ 0.97
Exercise Price $0.40 to $0.53 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	446,600
Options Outstanding, Weighted Average Remaining Life (years)	3 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price	$ 0.45
Number Exercisable	446,600
Number Exercisable, Weighted Average Remaining Life (years)	3 years 2 months 12 days
Number Exercisable, Weighted Average Exercise Price	$ 0.45
Exercise price $ 0.70 to $ 0.85
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	288,125
Options Outstanding, Weighted Average Remaining Life (years)	5 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price	$ 0.77
Number Exercisable	280,625
Number Exercisable, Weighted Average Remaining Life (years)	5 years 7 months 6 days
Number Exercisable, Weighted Average Exercise Price	$ 0.77
Exercise Price $1.37 to $1.90 [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	808,125
Options Outstanding, Weighted Average Remaining Life (years)	7 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price	$ 1.67
Number Exercisable	388,000
Number Exercisable, Weighted Average Remaining Life (years)	7 years 4 months 24 days
Number Exercisable, Weighted Average Exercise Price	$ 1.65
Exercise price $ 2.49 to $ 3.55
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	722,500
Options Outstanding, Weighted Average Remaining Life (years)	8 years 6 months
Options Outstanding, Weighted Average Exercise Price	$ 2.91
Number Exercisable	160,000
Number Exercisable, Weighted Average Remaining Life (years)	7 years 1 month 6 days
Number Exercisable, Weighted Average Exercise Price	$ 2.85