Shareholders' Equity (Details) - Schedule of employee and director stock option activity and related information - Stock Option [Member] - $ / shares	12 Months Ended
Dec. 31, 2021	Dec. 31, 2020	Dec. 31, 2019
Shareholders' Equity (Details) - Schedule of employee and director stock option activity and related information [Line Items]
Number of options Outstanding - beginning of year	170,500	246,874	320,875
Weighted-average exercise price Outstanding - beginning of year	$ 2.3	$ 2.26	$ 2.59
Number of options Granted	175,000	45,000	95,000
Weighted-average exercise price Granted	$ 3.36	$ 2.55	$ 2.13
Number of options Exercised	(52,167)	(84,618)	(125,195)
Weighted-average exercise price Exercised	$ 2.29	$ 2.29	$ 2.52
Number of options Forfeited	(17,500)	(36,756)	(43,806)
Weighted-average exercise price Forfeited	$ 2.44	$ 2.38	$ 3.65
Number of options Outstanding - year end	275,833	170,500	246,874
Weighted-average exercise price Outstanding - year end	$ 2.4	$ 2.3	$ 2.26
Number of options Vested and expected to vest	83,334	95,834	148,498
Weighted-average exercise price Vested and expected to vest	$ 2.22	$ 2.23	$ 2.41
Number of options Exercisable at year end	51,667	48,834	79,372
Weighted-average exercise price Exercisable at year end	$ 2.26	$ 2.26	$ 2.38

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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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Number of share options (or share units) exercised during the current period.

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