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Stockholders' Equity - Exercise price of options outstanding and exercisable (Details)
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Exercise prices of options outstanding and exercisable  
Lower range of Exercise price | $ / shares $ 3.65
Upper range of Exercise price | $ / shares $ 18.61
Options outstanding 1,671,076
Options Exercisable 813,943
0.01  
Exercise prices of options outstanding and exercisable  
Weighted average exercise price | $ / shares $ 0.41
Options outstanding 540,863
Weighted average remaining contractual life 8 years
Options Exercisable 380,641
0.03  
Exercise prices of options outstanding and exercisable  
Weighted average exercise price | $ / shares $ 1.22
Options outstanding 211,405
Weighted average remaining contractual life 5 years 2 months 12 days
Options Exercisable 211,134
0.04  
Exercise prices of options outstanding and exercisable  
Weighted average exercise price | $ / shares $ 1.62
Options outstanding 4,100
Weighted average remaining contractual life 1 year 1 month 6 days
Options Exercisable 4,100
0.05  
Exercise prices of options outstanding and exercisable  
Weighted average exercise price | $ / shares $ 2.03
Options outstanding 7,415
Weighted average remaining contractual life 4 years 7 months 6 days
Options Exercisable 7,415
0.06  
Exercise prices of options outstanding and exercisable  
Weighted average exercise price | $ / shares $ 2.43
Options outstanding 900,291
Weighted average remaining contractual life 9 years 2 months 12 days
Options Exercisable 203,651
0.07  
Exercise prices of options outstanding and exercisable  
Weighted average exercise price | $ / shares $ 2.84
Options outstanding 1,413
Weighted average remaining contractual life 2 years 9 months 18 days
Options Exercisable 1,413
$0.09-$0.46  
Exercise prices of options outstanding and exercisable  
Options outstanding 5,589
Weighted average remaining contractual life 3 years 3 months 25 days
Options Exercisable 5,589