Common Stock (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Shares Issued	24,712
Restricted Stock Units Vested	31,250
Shares Withheld for Tax	6,538
Stock Option Exercises [Member]
Common stock, share issued upon cashless exercise		277,634
Shares Issued	297,289	77,451
Restricted Stock Units Vested	377,007
Shares Withheld for Tax	79,718
February 8, 2021 | Stock Option Exercises Two [Member]
Common stock, share issued upon cashless exercise		100,000
Shares Issued		19,446
Stock Incentive Plan		2015
Price per shares		$ 5.00
February 8, 2021 | Stock Option Exercises [Member]
Common stock, share issued upon cashless exercise		50,000
Shares Issued		18,750
Stock Incentive Plan		2015
Price per shares		$ 3.25
February 8, 2021 | Stock Option Exercises 1 [Member]
Common stock, share issued upon cashless exercise		15,000
Shares Issued		5,769
Stock Incentive Plan		2011
Price per shares		$ 4.00
February 8 - February 9, 2021 | Stock Option Exercises [Member]
Common stock, share issued upon cashless exercise		85,000
Shares Issued		26,357
Stock Incentive Plan		2015
Price per shares		$ 4.00
January 13 - March 19, 2021 | Stock Option Exercises [Member]
Common stock, share issued upon cashless exercise		7,634
Shares Issued		948
Stock Incentive Plan		2011
Price per shares		$ 3.35
February 2, 2021 | Stock Option Exercises [Member]
Common stock, share issued upon cashless exercise		20,000
Shares Issued		6,181
Stock Incentive Plan		2011
Price per shares		$ 3.80
March 25, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	15,000
Price per shares	$ 3.01
Restricted Stock Units Vested	15,000
Shares Withheld for Tax	0
April 13, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	21,712
Price per shares	$ 2.95
Restricted Stock Units Vested	26,250
Shares Withheld for Tax	4,538
May 1, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	35,000
Price per shares	$ 2.79
Restricted Stock Units Vested	50,000
Shares Withheld for Tax	15,000
August 3, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	191,992
Price per shares	$ 1.97
Restricted Stock Units Vested	230,102
Shares Withheld for Tax	38,110
September 7, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	7,038
Price per shares	$ 1.65
Restricted Stock Units Vested	12,000
Shares Withheld for Tax	4,962
October 4, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	13,022
Price per shares	$ 1.46
Restricted Stock Units Vested	19,905
Shares Withheld for Tax	6,883
November 1, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	12,344
Price per shares	$ 1.97
Restricted Stock Units Vested	21,750
Shares Withheld for Tax	9,406
December 15, 2022 [Member] | Stock Option Exercises [Member]
Shares Issued	1,181
Price per shares	$ 1.97
Restricted Stock Units Vested	2,000
Shares Withheld for Tax	819