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Stockholders' Equity (Details) - Schedule of activity under the stock option plans - USD ($)
 3 Months Ended 12 Months Ended
Mar. 31, 2022
Dec. 31, 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) $ 6.94 $ 6.38 $ 6.48
Aggregate Intrinsic Value, Outstanding, Beginning (in Dollars) [1] $ 468,425 $ (180,038) $ (516,475)
Weighted Average Exercise Price, Outstanding, Ending (in Dollars per share) $ 7.1 $ 6.94 $ 6.38
Aggregate Intrinsic Value, Outstanding, Ending (in Dollars) $ 1,269,335 $ 468,425 [1] $ (180,038) [1]
Weighted Average Exercise Price, Vested (in Dollars per share) $ 6.78    
Aggregate Intrinsic Value, Vested (in Dollars) [1] $ 808,490    
Weighted average exercise price, Vested and expected to vest (in Dollars per share) $ 7.1    
Aggregate Intrinsic Value, Vested and expected to vest (in Dollars) [1] $ 1,269,335    
Weighted Average Exercise Price, Grants (in Dollars per share) $ 8.17 $ 9.78 $ 5.03
Weighted Average Exercise Price, Terminations/forfeitures (in Dollars per share) 4.25 7.26 5.45
Weighted Average Exercise Price, Exercises (in Dollars per share) $ 5.84 $ 7.08 $ 3.15
2010 Plan [Member]      
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items]      
Outstanding, Beginning balance 218,500 237,500 255,000
Outstanding, Ending balance 217,500 218,500 237,500
Vested 183,500    
Vested and expected to vest 217,500    
Reserved for future grants    
Grants 7,000
Terminations/forfeitures (12,000) (12,000)
Exercises (1,000) (7,000) (12,500)
2017 Plan [Member]      
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items]      
Outstanding, Beginning balance 224,500 176,500 133,500
Outstanding, Ending balance 279,500 224,500 176,500
Vested 98,500    
Vested and expected to vest 279,500    
Reserved for future grants 2,500    
Grants 57,000 86,000 93,000
Terminations/forfeitures (2,000) (20,000) (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).