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Stockholders Equity and StockBased Compensation (Details Narrative) - USD ($) |  |  |  | 1 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | ---
Dec. 15, 2023 | May 03, 2023 | Dec. 15, 2022 | Nov. 20, 2023 | Nov. 18, 2023 | Mar. 25, 2021 | Dec. 31, 2023 | Dec. 31, 2022
Outstanding restricted stock awards |  |  |  |  |  |  | 557,688 | 416,316
Unrecognized compensation cost related to option awards |  |  |  |  |  |  | $ 1,300,000 | $ 800,000
Common stock, shares, outstanding |  |  |  |  |  |  | 13,698,274 | 11,900,217
Shares of common stock issued |  |  |  |  |  |  | 13,698,274 | 11,900,217
Stock-based compensation expense |  |  |  |  |  |  | $ 3,700,000 | $ 3,500,000
Total common stock and all common stock equivalents |  |  |  |  |  |  | 14,209,061 | 12,426,120
Stock options outstanding |  |  |  |  |  |  | 510,787 | 525,903
Description related to ATM offerings |  |  |  |  |  | On March 25, 2021, the Company filed a shelf registration statement on Form S-3, registering the sale of up to $75.0 million of the Company’s securities, which registration statement was declared effective on April 5, 2021 and expires on April 5, 2024. On April 4, 2023, the Company filed a prospectus supplement with the amount of the Company securities available for issuance totaling $17.9 million with $11.9 million available for future share issuances as of December 31, 2023 |  |
Available for sale Securities [Member] |  |  |  |  |  |  |  |
Sold of ATM |  |  |  |  |  |  | 1,492,148 | 1,855,085
Proceeds for sale of ATM |  |  |  |  |  |  | $ 6,400,000 | $ 11,000,000.0
Stock issuence cost |  |  |  |  |  |  | $ 400,000 | $ 500,000
2020 Equity Incentive Plan [Member] |  |  |  |  |  |  |  |
Shares of common stock issued |  |  |  |  |  |  | 1,800,000 |
Common stock available for future issuance |  |  |  |  |  |  | 803,467 |
Common Share Issuances [Member] |  |  |  |  |  |  |  |
Shares of common stock issued |  |  |  |  |  |  | 13,325 | 10,565
Common stock issuance price range decrease |  |  |  |  |  |  | $ 4.00 | $ 4.56
Common stock issuance price range increase |  |  |  |  |  |  | $ 5.82 | 8.35
Stock-based compensation expense |  |  |  |  |  |  | $ 60,000 |
Weighted average grant date fair value |  |  |  |  |  |  | $ 4.50 |
Restricted Stock Award Activity Member |  |  |  |  |  |  |  |
Intrinsic fair value common stock per share |  |  |  |  |  |  | $ 3.21 | $ 3.89
Fair value of the RSAs vested |  |  |  |  |  |  | $ 600,000 |
Unrecognized compensation cost related to restricted stock units |  |  |  |  |  |  | $ 2,600,000 |
Weighted-average period |  |  |  |  |  |  | 2 years 1 month 6 days |
2023 Transactions [Member] |  |  |  |  |  |  |  |
Common shares issuances equity grant value |  |  |  | $ 1,100,000 |  |  |  |
Shares of common stock issued | 58,117 |  |  | 266,011 | 41,010 |  |  |
Common shares equity grant price per shares |  |  |  | $ 3.97 |  |  |  |
Description about share compensation | 96,863 of the total 290,590 RSAs that were granted on December 15, 2022 vested. These RSAs vest annually with a three-year straight line vesting period | 35,088 shares were included in the total outstanding common shares at December 31, 2023 and compensation expense will be recognized straight line over the three-year vesting period |  |  | 62,864 of the total 188,588 RSAs that were granted on November 18, 2021 vested. These RSAs vest annually with a three-year straight line vesting period |  |  |
2022 Transactions [Member] |  |  |  |  |  |  |  |
Common shares issuances equity grant value |  |  | $ 1,400,000 |  |  |  |  |
Common shares equity grant price per shares |  |  | $ 4.71 |  |  |  |  |
RSA Summary 2023 and 2022 [Member] |  |  |  |  |  |  |  |
Number of restricted stock awards |  |  |  |  |  |  | 557,688 | 416,316
Compensation expense |  |  |  |  |  |  | $ 1,200,000 | $ 700,000
Two Consultants [Member] |  |  |  |  |  |  |  |
Shares, Issued |  |  |  |  |  |  | 35,482 | 18,852
Exercise price lower range limit |  |  |  |  |  |  | $ 1.77 | $ 3.98
Fair value of the Company's common stock per share |  |  |  |  |  |  | $ 3.21 | $ 3.89
Unrecognized compensation cost related to option awards |  |  |  |  |  |  | $ 41,600 |
Unrecognized compensation cost related to option awards vesting period |  |  |  |  |  |  | 2 years |
Board of Directors Chairman [Member] |  |  |  |  |  |  |  |
Common shares issuances equity grant value |  |  | $ 200,000 | $ 240,000 |  |  |  |
Common shares equity grant price per shares |  |  | $ 3.84 | $ 3.97 |  |  |  |
Additional common shares |  |  | 52,085 | 60,456 |  |  |  |
Board of Directors Chairman [Member] | Restricted Stock Units R S A [Member] |  |  |  |  |  |  |  |
Common shares issuances equity grant value |  | $ 120,000 |  |  |  |  |  |
Shares of common stock issued |  | 35,088 |  |  |  |  |  |
Common shares equity grant price per shares |  | $ 3.42 |  |  |  |  |  |

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