Capital Stock, Stock Plans, Warrants and Stock Based Compensation (Details Narrative) - USD ($)			3 Months Ended
	Mar. 22, 2024	Jan. 18, 2024	Mar. 31, 2024	Mar. 31, 2023	Dec. 31, 2023	Apr. 01, 2019
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Common stock, par value			$ 0.001		$ 0.001
Proceeds from stock options exercised			$ 209,000	$ 7,000
Common Stock [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares issued from option exercise			12,916
Number of option exercised			25,000
Common Stock [Member] | Share-Based Payment Arrangement, Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Number of shares issued from option exercise			18,500
Number of option exercised			18,500
Proceeds from stock options exercised			$ 104,000
Common Stock [Member] | Minimum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock options, exercise price			$ 3.15
Common Stock [Member] | Minimum [Member] | Share-Based Payment Arrangement, Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock options, exercise price			3.95
Common Stock [Member] | Maximum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock options, exercise price			7.005
Common Stock [Member] | Maximum [Member] | Share-Based Payment Arrangement, Option [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock options, exercise price			$ 7.005
Employee and Directors [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Unrecognized compensation cost related to unvested options consultant			$ 1,823,000
Weighted average term for unrecognized and unvested option to be recognized			3 years 2 months 12 days
Robert Ferguson [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Loans payable						$ 2,500,000
Warrants exercise price						$ 3.51
Robert Ferguson [Member] | Maximum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Warrant to purchase						60,000
Robert Ferguson Heir Two [Member] | Maximum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Warrant to purchase						30,000
Robert Ferguson Heir [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Warrant to purchase	30,000
Proceeds from warrant exercised	$ 105,000
2003 Outside Directors Stock Option Plan [Member] | Common Stock [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Stock issued during period for services, shares			14,963
2003 Outside Directors Stock Plan [Member] | Portion of Director Fee Earned in Common Stock [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Allocated share-based compensation expense			$ 118,000
Incentive Stock Option Agreement [Member] | 2017 Stock Option Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]
Shares options granted		45,000
Common stock, par value		$ 0.001
Weighted average contractual term (years) outstanding		6 years
Vesting, description		one-fifth vesting annually over a five-year period
Stock options, exercise price		$ 7.75