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Schedule of Option Activity (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019
Option Indexed to Issuer's Equity [Line Items] |  |  |
Number of Shares Subject to Option, Granted | 198,000 | 199,000 |
Equity Option [Member] |  |  |
Option Indexed to Issuer's Equity [Line Items] |  |  |
Number of Shares Subject to Option, Beginning | 1,297,260 | 1,548,351 |
Weighted Average Exercise Price, Beginning | $ 4.09 | $ 3.68 |
Weighted Average Remaining Contractual Term (Years), Beginning | 5 years 8 months 12 days | 5 years 9 months 18 days | 6 years 10 months 24 days
Aggregate Intrinsic Value, Beginning | $ 142,885 | $ 603,683 |
Number of Shares Subject to Option, Granted | 198,000 | 199,000 |
Weighted Average Exercise Price, Granted | $ 1.72 | $ 2.79 |
Number of Shares Subject to Option, Cancelled | (155,050) |  |
Number of Shares Subject to Option, Exercised | (140,500) | (450,091) |
Weighted Average Exercise Price, Exercised | $ 2.48 | $ 2.09 |
Weighted Average Exercise Price, Cancelled | $ 5.38 |  |
Number of Shares Subject to Option, Ending | 1,199,710 | 1,297,260 | 1,548,351
Weighted Average Exercise Price, Ending | $ 3.67 | $ 4.09 | $ 3.68
Aggregate Intrinsic Value, Ending | $ 21,870 | $ 142,885 | $ 603,683

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