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Share-based Compensation (Details Textual) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
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 |  |  |

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