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Schedule of stock inventive plan changes (Details) - USD ($)
 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Common Class A [Member]    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of shares, outstanding, beginning 1,072,863 1,086,053
Weighted average exercise price, outstanding, beginning $ 4.22 $ 4.41
Number of Shares, adjustment for effect of stock dividends 47,594 27,968
Number of shares, granted 77,000
Number of shares, exercised (134,362) (78,803)
Number of shares, exercised 134,362 78,803
Number of shares, cancelled
Number of shares, outstanding, ending 986,095 1,112,218
Weighted average exercise price, outstanding, ending $ 4.31 $ 4.28
Number of shares, options exercisable 986,095 1,053,033
Weighted average exercise price, options exercisable $ 4.31 $ 4.39
Number of shares, available options for future grant 364,851 325,372
Weighted average contractual term of options outstanding 4 years 11 months 8 days 5 years 8 months 19 days
Weighted average contractual term of options exercisable 4 years 11 months 8 days 5 years 6 months 3 days
Aggregated intrinsic value of options outstanding $ 3,868,045 [1] $ 2,242,693 [2]
Aggregated intrinsic value of options exercisable $ 3,868,045 [1] $ 2,228,291 [2]
Common Class C [Member]    
Share-based Compensation Arrangement by Share-based Payment Award [Line Items]    
Number of shares, outstanding, beginning 662,666 594,132
Weighted average exercise price, outstanding, beginning $ 4.61 $ 5.36
Number of Shares, adjustment for effect of stock dividends 33,136 19,354
Number of shares, granted 180,000
Number of shares, exercised
Number of shares, exercised
Number of shares, cancelled
Number of shares, outstanding, ending 695,802 793,486
Weighted average exercise price, outstanding, ending $ 4.61 $ 4.88
Number of shares, options exercisable 695,802 652,805
Weighted average exercise price, options exercisable $ 4.61 $ 5.14
Number of shares, available options for future grant 279,825 266,500
Weighted average contractual term of options outstanding 6 years 25 days 5 years 11 months 8 days
Weighted average contractual term of options exercisable 6 years 25 days 5 years 5 months 26 days
Aggregated intrinsic value of options outstanding $ 2,515,840 [1] $ 1,115,985 [2]
Aggregated intrinsic value of options exercisable $ 2,515,840 [1] $ 894,505 [2]
[1] The Company used a stock price of $8.23 as of September 30, 2021 to derive intrinsic value.
[2] The Company used a stock price of $6.40 as of September 30, 2020 to derive intrinsic value.