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Schedule of Option Activity (Details) - Equity Option [Member] - USD ($) | 12 Months Ended
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Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Option Indexed to Issuer's Equity [Line Items] |  |  |
Number of Shares Subject to Option, Beginning | 1,199,710 | 1,297,260 |
Weighted Average Exercise Price, Beginning | $ 3.67 | $ 4.09 |
Weighted Average Remaining Contractual Term (Years), Ending | 5 years 9 months 18 days | 5 years 8 months 12 days | 5 years 9 months 18 days
Aggregate Intrinsic Value, Beginning | $ 21,870 | $ 142,885 |
Number of Shares Subject to Option, Granted | 178,000 | 198,000 |
Weighted Average Exercise Price, Granted | $ 1.95 | $ 1.72 |
Number of Shares Subject to Option, Cancelled | (130,750) | (155,050) |
Weighted Average Exercise Price, Cancelled | $ 4.91 | $ 5.38 |
Number of Shares Subject to Option, Exercised |  | (140,500) |
Weighted Average Exercise Price, Exercised |  | $ 2.48 |
Number of Shares Subject to Option, Ending | 1,246,960 | 1,199,710 | 1,297,260
Weighted Average Exercise Price, Ending | $ 3.35 | $ 3.67 | $ 4.09
Aggregate Intrinsic Value, Ending | $ 67,510 | $ 21,870 | $ 142,885

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- Definition The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(03) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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