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Share-based Compensation (Details Textual) - USD ($)	12 Months Ended
Share-based Compensation (Details Textual) - USD ($)	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 10, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding under Equity plan	616,707	704,960	904,123
Weighted Average exercise Price of Options Outstanding	$ 4.76	$ 5.62	$ 5.59
Stock options award, expiration	10 years
Employee Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Unrecognized compensation expense related to unvested options	$ 367,000
Maturity period of weighted average period of compensation expenses	1 year 1 month 6 days
Restricted Stock Units
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Requisite service period of stock awards granted	1 year
Unrecognized compensation expense related to unvested stock awards	$ 0
Minimum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options award, vesting period	3 years
Percentage holding for stock options exercise price	10.00%
Minimum \| Incentive Stock Option
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of exercise price of stock option	100.00%
Minimum \| Incentive Stock Option \| Stockholders
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Percentage of exercise price of stock option	110.00%
Maximum
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Stock options award, vesting period	4 years
2020 Equity Incentive Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares issuable under Equity plan				1,167,425
Number of shares outstanding under Equity plan	601,900
Weighted Average exercise Price of Options Outstanding	$ 3.45
Shares reserved for future	459,718
Options granted	0	60,000
2013 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding under Equity plan	14,807
Weighted Average exercise Price of Options Outstanding	$ 57.73