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Stockholders' Equity (Tables) | 12 Months Ended
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Dec. 31, 2023
Class Of Stock [Line Items] |
Schedule of Assumptions for Fair Value of Option Grant | In connection with the stock option grants during 2023 and 2022, 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:
|  | 2023 |  | 2022
Risk-free interest rate |  | 4% |  | 2% - 3%
Expected life (years) |  | 7 |  | 6
Expected volatility |  | 65% |  | 70%
Expected dividend yield |  | Zero |  | Zero
Schedule of Changes in Common Stock Options | The following summarizes the changes in common stock options:
|  | 2023 |  |  | 2022 |
|  | Options |  |  | Weighted Average Exercise Price |  |  | Options |  |  | Weighted Average Exercise Price |
Outstanding at beginning of year |  |  | 2,027,350 |  |  | $ | 1.38 |  |  |  | 2,193,288 |  |  | $ | 1.23 |
Granted |  |  | 470,000 |  |  | $ | 2.91 |  |  |  | 279,500 |  |  | $ | 1.62 |
Exercised |  |  | (102,125 | ) |  | $ | 0.86 |  |  |  | (339,125 | ) |  | $ | 0.50 |
Forfeited |  |  | (129,875 | ) |  | $ | 1.72 |  |  |  | (106,313 | ) |  | $ | 1.79 |
Outstanding at end of year |  |  | 2,265,350 |  |  | $ | 1.71 |  |  |  | 2,027,350 |  |  | $ | 1.38 |
Options exercisable at year end |  |  | 1,275,225 |  |  | $ | 1.02 |  |  |  | 1,023,975 |  |  | $ | 0.97 |
Weighted-average fair value of options granted during the year |  |  |  |  | $ | 2.91 |  |  |  |  |  | $ | 1.62 |
Schedule of Information about All Stock Options Outstanding | The following table summarizes information about all stock options outstanding as of December 31, 2023:
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 |  |  | 446,600 |  |  |  | 3.2 |  |  | $ | 0.45 |  |  |  | 446,600 |  |  |  | 3.2 |  |  | $ | 0.45 |
$ 0.70 to $ 0.85 |  |  | 288,125 |  |  |  | 5.6 |  |  | $ | 0.77 |  |  |  | 280,625 |  |  |  | 5.6 |  |  | $ | 0.77 |
$ 1.37 to $ 1.90 |  |  | 808,125 |  |  |  | 7.6 |  |  | $ | 1.67 |  |  |  | 388,000 |  |  |  | 7.4 |  |  | $ | 1.65 |
$ 2.49 to $ 3.55 |  |  | 722,500 |  |  |  | 8.5 |  |  | $ | 2.91 |  |  |  | 160,000 |  |  |  | 7.1 |  |  | $ | 2.85 |
|  |  | 2,265,350 |  |  |  |  |  |  |  |  |  | 1,275,225 |  |  |  |  |  |  |
Other Options Issued [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
Other Options |  | 2023 |  |  | 2022 |
Options outstanding, beginning of year |  |  | 383,125 |  |  |  | 404,375 |
Options issued |  |  | — |  |  |  | — |
Options exercised |  |  | — |  |  |  | (21,250 | )
Options forfeited |  |  | — |  |  |  | — |
Options outstanding, end of year |  |  | 383,125 |  |  |  | 383,125 |
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 |  | 2023 |  |  | 2022 |
Options outstanding, beginning of year |  |  | 243,750 |  |  |  | 331,250 |
Options granted |  |  | — |  |  |  | 100,000 |
Options exercised |  |  | (5,000 | ) |  |  | (147,500 | )
Options forfeited |  |  | — |  |  |  | (40,000 | )
Options outstanding, end of year |  |  | 238,750 |  |  |  | 243,750 |
2016 Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2016 Plan |  | 2023 |  |  | 2022 |
Options outstanding, beginning of year |  |  | 1,255,975 |  |  |  | 1,457,663 |
Options granted |  |  | — |  |  |  | 35,000 |
Options exercised |  |  | (91,750 | ) |  |  | (170,375 | )
Options forfeited |  |  | (84,375 | ) |  |  | (66,313 | )
Options outstanding, end of year |  |  | 1,079,850 |  |  |  | 1,255,975 |
2022 Stock Option Plan [Member] |
Class Of Stock [Line Items] |
Schedule of Stock Options and Other Stock Options Issued |
2022 Plan |  | 2023 |  |  | 2022 |
Options outstanding, beginning of year |  |  | 144,500 |  |  |  | — |
Options granted |  |  | 470,000 |  |  |  | 144,500 |
Options exercised |  |  | (5,375 | ) |  |  | — |
Options forfeited |  |  | (45,500 | ) |  |  | — |
Options outstanding, end of year |  |  | 563,625 |  |  |  | 144,500 |

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