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Schedule of Activity of Stock Option Plans (Details) - USD ($)
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Common Class A [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, outstanding, beginning 976,605 1,024,351
Weighted average exercise price, outstanding, beginning $ 4.78 $ 4.61
Number of shares, granted 16,000 4,000
Number of shares, exercised (90,705) (50,968)
Number of shares, cancelled
Number of shares, outstanding, beginning 901,900 977,383
Weighted average exercise price, outstanding, Ending $ 4.92 $ 4.77
Number of shares, options exercisable 827,025 906,258
Weighted average exercise price, options exercisable $ 4.76 $ 4.46
Number of shares, available options for future grant 155,133 228,376
Weighted average contractual term of options outstanding 4 years 7 months 6 days 4 years 5 months 8 days
Weighted average contractual term of options exercisable 4 years 1 month 20 days 4 years 10 days
Aggregated intrinsic value of options outstanding $ 1,182,602 [1] $ 5,115,622 [2]
Aggregated intrinsic value of options exercisable $ 1,214,210 [1] $ 5,017,469 [2]
Common Class C [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Number of shares, outstanding, beginning 1,157,203 821,146
Weighted average exercise price, outstanding, beginning $ 5.59 $ 5.48
Number of shares, granted
Number of shares, exercised
Number of shares, cancelled
Number of shares, outstanding, beginning 1,157,203 821,146
Weighted average exercise price, outstanding, Ending $ 5.59 $ 5.48
Number of shares, options exercisable 935,953 648,646
Weighted average exercise price, options exercisable $ 5.36 $ 4.67
Number of shares, available options for future grant 795,000 16,689
Weighted average contractual term of options outstanding 6 years 7 months 28 days 7 years
Weighted average contractual term of options exercisable 6 years 2 months 12 days 6 years 6 months 25 days
Aggregated intrinsic value of options outstanding $ 741,380 [1] $ 3,666,085 [2]
Aggregated intrinsic value of options exercisable $ 812,293 [1] $ 3,460,285 [2]
[1] The Company used a stock price of $6.23 as of March 31, 2023 to derive intrinsic value.
[2] The Company used a stock price of $10.00 as of March 31, 2022, which was the closing price of the Company’s Class A shares on Nasdaq for that day, to derive intrinsic value.