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Capital Stock, Stock Plans and Stock Based Compensation (Details Narrative) - USD ($) |  | 3 Months Ended | 6 Months Ended |
--- | --- | --- | --- | ---
Jan. 18, 2024 | Mar. 31, 2024 | Jun. 30, 2024 | Jun. 30, 2023 | Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Common stock, par value |  |  | $ 0.001 |  | $ 0.001
Proceeds from stock options exercised |  |  | $ 218,000 | $ 101,000 |
Loans payable |  | $ 2,500,000 |  |  |
Warrants exercise price |  | $ 3.51 |  |  |
Proceeds from warrant exercised |  | $ 105,000 |  |  |
Maximum [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Warrant to purchase |  | 30,000 |  |  |
Common Stock [Member] |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items] |  |  |  |  |
Number of shares issued from option exercise |  |  | 14,717 |  |
Number of option exercised |  |  | 29,000 |  |
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 |  |  | 20,900 |  |
Number of option exercised |  |  | 20,900 |  |
Proceeds from stock options exercised |  |  | $ 113,000 |  |
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 |  |  | 3.70 |  |
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 |  |  | $ 1,595,000 |  |
Weighted average term for unrecognized and unvested option to be recognized |  |  | 3 years |  |
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 |  |  | 24,928 |  |
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 |  |  | $ 242,000 |  |
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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