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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2022
Class Of Stock [Line Items] |
Schedule of Assumptions for Fair Value of Option Grant | In connection with the stock option grants during 2022 and 2021, the fair value of each option grant was estimated on the date of the grant using the Black-Scholes option pricing model with the following assumptions:
|  | 2022 |  | 2021
Risk-free interest rate |  | 2% - 3% |  | 0% - 1%
Expected life (years) |  | 6 |  | 6.6
Expected volatility |  | 70% |  | 80%
Expected dividend yield |  | Zero |  | Zero
Schedule of Changes in Common Stock Options | The following summarizes the changes in common stock options:
|  | 2022 |  |  | 2021 |
|  | Options |  |  | Weighted Average Exercise Price |  |  | Options |  |  | Weighted Average Exercise Price |
Outstanding at beginning of year |  |  | 2,193,288 |  |  | $ | 1.23 |  |  |  | 3,516,225 |  |  | $ | 0.63 |
Granted |  |  | 279,500 |  |  | $ | 1.62 |  |  |  | 722,500 |  |  | $ | 2.28 |
Exercised |  |  | (339,125 | ) |  | $ | 0.50 |  |  |  | (1,895,437 | ) |  | $ | 0.48 |
Forfeited |  |  | (106,313 | ) |  | $ | 1.79 |  |  |  | (150,000 | ) |  | $ | 1.61 |
Outstanding at end of year |  |  | 2,027,350 |  |  | $ | 1.38 |  |  |  | 2,193,288 |  |  | $ | 1.23 |
Options exercisable at year end |  |  | 1,023,975 |  |  | $ | 0.97 |  |  |  | 978,350 |  |  | $ | 0.60 |
Weighted-average fair value of options granted during the year |  |  |  |  | $ | 1.62 |  |  |  |  |  | $ | 1.59 |
Schedule of Information about All Stock Options Outstanding | The following table summarizes information about all stock options outstanding as of December 31, 2022:
Exercise price |  | Options Outstanding |  |  | Weighted Average Remaining Life (years) |  |  | Weighted Average Exercise Price |  |  | Number Exercisable |  |  | Weighted Average Remaining Life (years) |  |  | Weighted Average Exercise Price |
$ 0.40 to $ 0.53 |  |  | 503,100 |  |  |  | 4.4 |  |  | $ | 0.45 |  |  |  | 495,600 |  |  |  | 4.3 |  |  | $ | 0.45 |
$ 0.70 to $ 0.95 |  |  | 354,875 |  |  |  | 6.8 |  |  | $ | 0.79 |  |  |  | 240,125 |  |  |  | 6.8 |  |  | $ | 0.79 |
$ 1.37 to $ 1.90 |  |  | 877,500 |  |  |  | 8.7 |  |  | $ | 1.66 |  |  |  | 196,375 |  |  |  | 8.2 |  |  | $ | 1.63 |
$ 2.77 to $ 3.33 |  |  | 291,875 |  |  |  | 8.4 |  |  | $ | 2.85 |  |  |  | 91,875 |  |  |  | 8.3 |  |  | $ | 2.84 |
|  |  | 2,027,350 |  |  |  |  |  |  |  |  |  | 1,023,975 |  |  |  |  |  |  |
Other Options Issued [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
Other Options |  | 2022 |  |  | 2021 |
Options outstanding, beginning of year |  |  | 404,375 |  |  |  | 344,375 |
Options issued |  |  | — |  |  |  | 150,000 |
Options exercised |  |  | (21,250 | ) |  |  | (22,500 | )
Options forfeited |  |  | — |  |  |  | (67,500 | )
Options outstanding, end of year |  |  | 383,125 |  |  |  | 404,375 |
The outstanding options vest over four years at exercise prices ranging from $0.70 to $1.78 per share.
2010 Non-Qualified Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2010 Plan |  | 2022 |  |  | 2021 |
Options outstanding, beginning of year |  |  | 331,250 |  |  |  | 1,100,000 |
Options granted |  |  | 100,000 |  |  |  | 50,000 |
Options exercised |  |  | (147,500 | ) |  |  | (793,750 | )
Options forfeited |  |  | (40,000 | ) |  |  | (25,000 | )
Options outstanding, end of year |  |  | 243,750 |  |  |  | 331,250 |
2016 Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2016 Plan |  | 2022 |  |  | 2021 |
Options outstanding, beginning of year |  |  | 1,457,663 |  |  |  | 2,071,850 |
Options granted |  |  | 35,000 |  |  |  | 522,500 |
Options exercised |  |  | (170,375 | ) |  |  | (1,079,187 | )
Options forfeited |  |  | (66,313 | ) |  |  | (57,500 | )
Options outstanding, end of year |  |  | 1,255,975 |  |  |  | 1,457,663 |
2022 Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2022 Plan |  | 2022 |
Options outstanding, beginning of year |  |  | — |
Options granted |  |  | 144,500 |
Options outstanding, end of year |  |  | 144,500 |

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