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Stockholders' Equity - Schedule of Information about All Stock Options Outstanding (Details) - $ / shares | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options Outstanding | 2,027,350 | 2,193,288 | 3,516,225
Options Outstanding, Weighted Average Exercise Price | $ 1.38 | $ 1.23 | $ 0.63
Number Exercisable | 1,023,975 | 978,350 |
Number Exercisable, Weighted Average Exercise Price | $ 0.97 | $ 0.60 |
Exercise Price $0.40 to $0.53 [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options Outstanding | 503,100 |  |
Options Outstanding, Weighted Average Remaining Life (years) | 4 years 3 months 18 days |  |
Options Outstanding, Weighted Average Exercise Price | $ 0.45 |  |
Number Exercisable | 495,600 |  |
Number Exercisable, Weighted Average Remaining Life (years) | 4 years 4 months 24 days |  |
Number Exercisable, Weighted Average Exercise Price | $ 0.45 |  |
Exercise Price $0.70 to $0.95 [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options Outstanding | 354,875 |  |
Options Outstanding, Weighted Average Remaining Life (years) | 6 years 9 months 18 days |  |
Options Outstanding, Weighted Average Exercise Price | $ 0.79 |  |
Number Exercisable | 240,125 |  |
Number Exercisable, Weighted Average Remaining Life (years) | 6 years 9 months 18 days |  |
Number Exercisable, Weighted Average Exercise Price | $ 0.79 |  |
Exercise Price $1.37 to $1.90 [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options Outstanding | 877,500 |  |
Options Outstanding, Weighted Average Remaining Life (years) | 8 years 2 months 12 days |  |
Options Outstanding, Weighted Average Exercise Price | $ 1.66 |  |
Number Exercisable | 196,375 |  |
Number Exercisable, Weighted Average Remaining Life (years) | 8 years 8 months 12 days |  |
Number Exercisable, Weighted Average Exercise Price | $ 1.63 |  |
Exercise Price $2.77 to $3.33 [Member] |  |  |
Share Based Compensation Arrangement By Share Based Payment Award [Line Items] |  |  |
Options Outstanding | 291,875 |  |
Options Outstanding, Weighted Average Remaining Life (years) | 8 years 3 months 18 days |  |
Options Outstanding, Weighted Average Exercise Price | $ 2.85 |  |
Number Exercisable | 91,875 |  |
Number Exercisable, Weighted Average Remaining Life (years) | 8 years 4 months 24 days |  |
Number Exercisable, Weighted Average Exercise Price | $ 2.84 |  |

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- Definition Line items represent financial concepts included in a table. These concepts are used to disclose reportable information associated with domain members defined in one or many axes to the table. + References No definition available. + Details
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- Definition The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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