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Schedule of Activity of Stock Option Plans (Details) - USD ($)
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Common Class A [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, outstanding, beginning 1,024,351 1,072,863
Weighted average exercise price, outstanding, beginning $ 4.61 $ 4.33
Number of Shares, adjustment for effect of stock dividends
Number of shares, granted 4,000
Number of shares, exercised (50,968) (32,925)
Number of shares, cancelled
Number of shares, outstanding, ending 977,383 1,039,938
Weighted average exercise price, outstanding, ending $ 4.77 $ 4.34
Number of shares, options exercisable 906,258 1,039,938
Weighted average exercise price, options exercisable $ 4.46 $ 4.34
Number of shares, available options for future grant 228,376 330,371
Weighted average contractual term of options outstanding 4 years 5 months 8 days 6 years 3 months 10 days
Weighted average contractual term of options exercisable 4 years 10 days 6 years 3 months 10 days
Aggregated intrinsic value of options outstanding $ 5,115,622 [1] $ 5,212,677 [2]
Aggregated intrinsic value of options exercisable $ 5,017,469 [1] $ 5,212,677 [2]
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period
Number of shares, options exercisable 906,258 1,039,938
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant 228,376 330,371
Common Class C [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, outstanding, beginning 821,146 662,666
Weighted average exercise price, outstanding, beginning $ 5.48 $ 4.73
Number of Shares, adjustment for effect of stock dividends
Number of shares, granted
Number of shares, exercised  
Number of shares, cancelled
Number of shares, outstanding, ending 821,146 662,666
Weighted average exercise price, outstanding, ending $ 5.48 $ 4.73
Number of shares, options exercisable 648,646 662,666
Weighted average exercise price, options exercisable $ 4.67 $ 4.73
Number of shares, available options for future grant 16,689 266,500
Weighted average contractual term of options outstanding 7 years 6 years 8 months 15 days
Weighted average contractual term of options exercisable 6 years 6 months 25 days 6 years 8 months 15 days
Aggregated intrinsic value of options outstanding $ 3,666,085 [1] $ 3,059,620 [2]
Aggregated intrinsic value of options exercisable $ 3,460,285 [1] $ 3,059,620 [2]
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period
Number of shares, options exercisable 648,646 662,666
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant 16,689 266,500
[1] The Company used a stock price of $10.00 as of March 31, 2022 to derive intrinsic value.
[2] The Company used a stock price of $9.35 as of March 31, 2021 to derive intrinsic value.