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Stockholders' Equity (Details) - Schedule of activity under the stock option plans - USD ($) | 9 Months Ended | 12 Months Ended
--- | --- | ---
Sep. 30, 2021 | Dec. 31, 2020
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items] |  |  |
Weighted Average Exercise Price, Outstanding, Beginning (in Dollars per share) |  | $ 6.38 | $ 6.48
Aggregate Intrinsic Value, Outstanding, Beginning (in Dollars) | [1] | $ (180,038) | $ (516,475)
Weighted Average Exercise Price, Outstanding, Ending (in Dollars per share) |  | $ 6.96 | $ 6.38
Aggregate Intrinsic Value, Outstanding, Ending (in Dollars) | [1] | $ 1,082,915 | $ (180,038)
Weighted Average Exercise Price, Vested (in Dollars per share) |  | $ 6.76 |
Aggregate Intrinsic Value, Vested (in Dollars) | [1] | $ 743,840 |
Weighted average exercise price, Vested and expected to vest (in Dollars per share) |  | $ 6.96 |
Aggregate Intrinsic Value, Vested and expected to vest (in Dollars) | [1] | $ 1,082,915 |
Grants |  | 84,000 |
Weighted Average Exercise Price, Grants (in Dollars per share) |  | $ 9.82 | $ 5.03
Weighted Average Exercise Price, Terminations/forfeitures (in Dollars per share) |  | 6.83 | 5.45
Weighted Average Exercise Price, Exercises (in Dollars per share) |  | $ 7.08 | $ 3.15
2010 Plan [Member] |  |  |
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items] |  |  |
Outstanding, Beginning balance |  | 237,500 | 255,000
Outstanding, Ending balance |  | 223,500 | 237,500
Vested |  | 187,500 |
Vested and expected to vest |  | 223,500 |
Reserved for future grants |  |  |
Grants |  |  | 7,000
Terminations/forfeitures |  | (7,000) | (12,000)
Exercises |  | (7,000) | (12,500)
2017 Plan [Member] |  |  |
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items] |  |  |
Outstanding, Beginning balance |  | 176,500 | 133,500
Outstanding, Ending balance |  | 228,500 | 176,500
Vested |  | 98,500 |
Vested and expected to vest |  | 228,500 |
Reserved for future grants |  | 53,500 |
Grants |  | 84,000 | 93,000
Terminations/forfeitures |  | (14,000) | (50,000)
Exercises |  | (18,000) |
[1] | Intrinsic value is the difference between the fair market value of the underlying common stock as of the date indicated and as of the date of the option grant (which is equal to the option exercise price).

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