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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Amount of cost to be recognized for nonvested award under share-based payment arrangement. Excludes share and unit options.

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Amount of cost to be recognized for option under share-based payment arrangement.

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Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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Number of shares authorized for issuance under share-based payment arrangement.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of shares issued under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Purchase price of common stock expressed as a percentage of its fair value.

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Share-based Compensation (Details Textual) - USD ($)	12 Months Ended
Share-based Compensation (Details Textual) - USD ($)	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Dec. 10, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding under Equity plan	704,960	904,123	531,238
Weighted Average exercise Price of Options Outstanding	$ 5.62	$ 5.59	$ 8.71
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	$ 971,000
Maturity period of weighted average period of compensation expenses	1 year 10 months 24 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	$ 188,000
Maturity period of weighted average period of compensation expenses	10 months 24 days
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	684,400
Weighted Average exercise Price of Options Outstanding	$ 3.47
Shares reserved for future	371,487
Options granted	60,000	433,700
2013 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding under Equity plan	20,538
Weighted Average exercise Price of Options Outstanding	$ 77.12
2004 Plan
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Number of shares outstanding under Equity plan	22
Weighted Average exercise Price of Options Outstanding	$ 172.79