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Shareholders' Equity (Details) - Schedule of stock option activity - Stock Option [Member] - $ / shares	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Shareholders' Equity (Details) - Schedule of stock option activity [Line Items]
Number of options Outstanding - beginning of year	246,874	320,875	314,125
Weighted-average exercise price Outstanding - beginning of year	$ 2.26	$ 2.59	$ 3.39
Number of options Granted	45,000	95,000	108,000
Weighted-average exercise price Granted	$ 2.55	$ 2.13	$ 2.39
Number of options Exercised	(84,618)	(125,195)
Weighted-average exercise price Exercised	$ 2.29	$ 2.52
Number of options Forfeited	(36,756)	(43,806)	(101,250)
Weighted-average exercise price Forfeited	$ 2.38	$ 3.65	$ 4.85
Number of options Outstanding - year end	170,500	246,874	320,875
Weighted-average exercise price Outstanding - year end	$ 2.30	$ 2.26	$ 2.59
Number of options Vested and expected to vest	95,834	148,498	167,874
Weighted-average exercise price Vested and expected to vest	$ 2.23	$ 2.41	$ 2.90
Number of options Exercisable at year end	48,834	79,372	157,874
Weighted-average exercise price Exercisable at year end	$ 2.26	$ 2.38	$ 2.89

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The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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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.

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Gross number of share options (or share units) granted during the period.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted-average exercise price, at which grantee can acquire shares reserved for issuance, for fully vested and expected to vest options outstanding. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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