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Schedule of Activity of Stock Option Plans (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 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, Ending $ 4.38 $ 4.12
Number of Shares, adjustment for effect of stock dividends 47,780 47,594
Number of shares, granted 82,500 89,500
Number of shares, exercised (176,435) (183,935)
Number of shares, cancelled (1,591) (1,671)
Number of shares, outstanding, ending 976,605 1,024,351
Weighted average exercise price, outstanding, ending $ 4.78 $ 4.38
Number of shares, options exercisable 897,105  
Weighted average exercise price, options exercisable $ 4.63  
Number of shares, available options for future grant 132,313  
Weighted average contractual term of options outstanding 4 years 8 months 19 days  
Weighted average contractual term of options exercisable 4 years 3 months 3 days  
Aggregated intrinsic value of options outstanding [1] $ 2,460,755  
Aggregated intrinsic value of options exercisable [1] $ 2,397,275  
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, Ending $ 5.26 $ 4.50
Number of Shares, adjustment for effect of stock dividends 41,057 33,136
Number of shares, granted 295,000 230,000
Number of shares, exercised (104,656)
Number of shares, cancelled
Number of shares, outstanding, ending 1,157,203 821,146
Weighted average exercise price, outstanding, ending $ 5.59 $ 5.26
Number of shares, options exercisable 862,203  
Weighted average exercise price, options exercisable $ 5.26  
Number of shares, available options for future grant 795,000  
Weighted average contractual term of options outstanding 6 years 10 months 24 days  
Weighted average contractual term of options exercisable 6 years 2 months 26 days  
Aggregated intrinsic value of options outstanding [1] $ 1,979,588  
Aggregated intrinsic value of options exercisable [1] $ 1,758,488  
[1] The Company used a stock price of $7.30 as of December 31, 2022 to derive intrinsic value.