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Shareholders' Equity (Tables)
 12 Months Ended
Dec. 31, 2020
Stockholders' Equity Note [Abstract]  
Schedule of outstanding warrants to shareholders

Outstanding and

exercisable

warrants

  

Weighted average

exercise price

of outstanding

warrants

  

Weighted

average Remaining contractual
life (years)

 
 400,000    3.23    1.65 
Schedule of stock option activity
   2020   2019   2018 
   Number
of
options		   Weighted-
average exercise price		   Number
of
options		   Weighted average exercise price   Number
of
options		   Weighted-
average exercise price		 
                         
Outstanding - beginning of year   246,874   $2.26    320,875   $2.59    314,125   $3.39 
Changes during the year:                              
Granted   45,000   $2.55    95,000   $2.13    108,000   $2.39 
Exercised   (84,618)  $2.29    (125,195)  $2.52    -   $- 
Forfeited   (36,756)  $2.38    (43,806)  $3.65    (101,250)  $4.85 
                               
Outstanding - year end   170,500   $2.30    246,874   $2.26    320,875   $2.59 
                               
Vested and expected to vest   95,834   $2.23    148,498   $2.41    167,874   $2.90 
Exercisable at year end   48,834   $2.26    79,372   $2.38    157,874   $2.89 
Schedule of options granted to employees and directors
               Weighted average 
   Options   Weighted   Options   Remaining 
   outstanding   average   exercisable   Contractual 
   as of   remaining   as of   life of options 
Exercise  December 31,   contractual   December 31,   exercisable 
Price  2020   life (years)   2020   (years) 
                 
2.118   74,166    3.83    15,834    3.83 
2.131   7,167    1.93    7,167    1.93 
2.176   10,000    4.08    -    4.08 
2.287   2,500    3.07    2,500    3.07 
2.388   41,667    2.54    23,333    2.54 
2.494   15,000    4.75    -    4.75 
2.775   20,000    4.96    -    4.96 
                     
Grand Total   170,500    3.65    48,834    2.90