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Schedule of Activity of Stock Option Plans (Details) - USD ($)
 6 Months Ended
Jun. 30, 2022
Jun. 30, 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 $ 4.38 $ 4.22
Number of Shares, adjustment for effect of stock dividends 47,780 47,594
Number of shares, granted 4,000
Number of shares, exercised (71,330) (97,313)
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (4,000)
Number of shares, cancelled (1,591)
Number of shares, outstanding, ending 1,003,210 1,023,144
Weighted average exercise price, outstanding, ending $ 4.58 $ 4.29
Number of shares, options exercisable 955,460 1,023,144
Weighted average exercise price, options exercisable $ 4.40 $ 4.29
Number of shares, available options for future grant 239,795 358,462
Weighted average contractual term of options outstanding 4 years 3 months 25 days 5 years 2 months 4 days
Weighted average contractual term of options exercisable 4 years 21 days 5 years 2 months 4 days
Aggregated intrinsic value of options outstanding $ 3,891,873 [1] $ 4,135,399 [2]
Aggregated intrinsic value of options exercisable $ 3,878,980 [1] $ 4,135,399 [2]
Number of shares, options exercisable 955,460 1,023,144
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant 239,795 358,462
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 $ 5.26 $ 4.61
Number of Shares, adjustment for effect of stock dividends 41,057 33,136
Number of shares, granted
Number of shares, exercised  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross
Number of shares, cancelled
Number of shares, outstanding, ending 862,203 695,802
Weighted average exercise price, outstanding, ending $ 5.26 $ 4.61
Number of shares, options exercisable 747,203 695,802
Weighted average exercise price, options exercisable $ 4.78 $ 4.61
Number of shares, available options for future grant 17,523 279,825
Weighted average contractual term of options outstanding 6 years 9 months 6 years 3 months 25 days
Weighted average contractual term of options exercisable 6 years 6 months 6 years 3 months 25 days
Aggregated intrinsic value of options outstanding $ 2,758,643 [1] $ 2,585,420 [2]
Aggregated intrinsic value of options exercisable $ 2,748,093 [1] $ 2,585,420 [2]
Number of shares, options exercisable 747,203 695,802
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant 17,523 279,825
[1] The Company used a stock price of $8.46 as of June 30, 2022 to derive intrinsic value.
[2] The Company used a stock price of $8.33 as of June 30, 2021, which was the closing price of the Company’s Class A shares on Nasdaq for that day, to derive intrinsic value.