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Capital Stock, Stock Plans, Warrants and Stock Based Compensation (Details Narrative) - USD ($) |  |  | 3 Months Ended |  |
--- | --- | --- | --- | --- | ---
Mar. 22, 2024 | Jan. 18, 2024 | Mar. 31, 2024 | Mar. 31, 2023 | Dec. 31, 2023 | Apr. 01, 2019
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Common stock, par value |  |  | $ 0.001 |  | $ 0.001 |
Proceeds from stock options exercised |  |  | $ 209,000 | $ 7,000 |  |
Common Stock [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares issued from option exercise |  |  | 12,916 |  |  |
Number of option exercised |  |  | 25,000 |  |  |
Common Stock [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Number of shares issued from option exercise |  |  | 18,500 |  |  |
Number of option exercised |  |  | 18,500 |  |  |
Proceeds from stock options exercised |  |  | $ 104,000 |  |  |
Common Stock [Member] | Minimum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Stock options, exercise price |  |  | $ 3.15 |  |  |
Common Stock [Member] | Minimum [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Stock options, exercise price |  |  | 3.95 |  |  |
Common Stock [Member] | Maximum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Stock options, exercise price |  |  | 7.005 |  |  |
Common Stock [Member] | Maximum [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Stock options, exercise price |  |  | $ 7.005 |  |  |
Employee and Directors [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Unrecognized compensation cost related to unvested options consultant |  |  | $ 1,823,000 |  |  |
Weighted average term for unrecognized and unvested option to be recognized |  |  | 3 years 2 months 12 days |  |  |
Robert Ferguson [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Loans payable |  |  |  |  |  | $ 2,500,000
Warrants exercise price |  |  |  |  |  | $ 3.51
Robert Ferguson [Member] | Maximum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Warrant to purchase |  |  |  |  |  | 60,000
Robert Ferguson Heir Two [Member] | Maximum [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Warrant to purchase |  |  |  |  |  | 30,000
Robert Ferguson Heir [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Warrant to purchase | 30,000 |  |  |  |  |
Proceeds from warrant exercised | $ 105,000 |  |  |  |  |
2003 Outside Directors Stock Option Plan [Member] | Common Stock [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Stock issued during period for services, shares |  |  | 14,963 |  |  |
2003 Outside Directors Stock Plan [Member] | Portion of Director Fee Earned in Common Stock [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Allocated share-based compensation expense |  |  | $ 118,000 |  |  |
Incentive Stock Option Agreement [Member] | 2017 Stock Option Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |  |
Shares options granted |  | 45,000 |  |  |  |
Common stock, par value |  | $ 0.001 |  |  |  |
Weighted average contractual term (years) outstanding |  | 6 years |  |  |  |
Vesting, description |  | one-fifth vesting annually over a five-year period |  |  |  |
Stock options, exercise price |  | $ 7.75 |  |  |  |

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