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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