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Summary of Significant Accounting Policies (Details Narrative) - USD ($)
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Stock-based compensation $ 912,000 $ 790,000
Unrecognized stock-based compensation costs $ 8,600,000  
Weighted-average period for unrecognized costs 2 years 2 months 12 days  
Intrinsic value options outstanding $ 56,500,000  
Intrinsic value of options exercisable 43,000,000.0  
Intrinsic value of options exercised $ 3,800,000 $ 10,200,000
Shares available for grant 2,661,000  
Options Exercised [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Options exercised 1,086,000 1,366,000