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Schedule of Option Activity (Details) - Equity Option [Member] - USD ($)
 12 Months Ended
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