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Capital Structure (Details) - Schedule of option activity under the company's stock option plans - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Schedule of option activity under the company's stock option plans [Abstract]    
Number of Options, outstanding beginning 3,564,289 3,133,109
Weighted Average Exercise Price, outstanding beginning $ 7.18 $ 3.51
Aggregate Intrinsic Value, outstanding beginning $ 12,527
Number of Options, Granted 1,200,934
Weighted Average Exercise Price, Granted $ 12.79
Number of Options, Exercised (4,220) (174,223)
Weighted Average Exercise Price, Exercised $ 2.3 $ 2.51
Number of Options, Forfieted (151,641) (276,723)
Weighted Average Exercise Price, Forfieted $ 6.85 $ 3.67
Number of Options, Expired (53,425) (4,076)
Weighted Average Exercise Price, Expired $ 17.73 $ 2.28
Number of Options, outstanding Ending 3,355,003 3,879,021
Weighted Average Exercise Price, outstanding Ending $ 7.03 $ 6.42
Aggregate Intrinsic Value, outstanding Ending $ 2,445
Number of Options, Options vested and exercisable 2,112,370  
Weighted Average Exercise Price, Options vested and exercisable $ 5.54  
Number of Options, Options vested and expected to vest 3,193,314  
Weighted Average Exercise Price, Options vested and expected to vest $ 6.9