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Stockholders' Equity (Details) - Schedule of stock option activity
 12 Months Ended
Dec. 31, 2021
$ / shares
shares
Schedule of stock option activity [Abstract]  
Number of Options, Outstanding beginning balance | shares 622,036
Weighted Average Exercise Price, Outstanding beginning balance | $ / shares $ 5.53
Number of Options, Granted | shares 37,932
Weighted Average Exercise Price, Granted | $ / shares $ 3.77
Number of Options,, Exercised during period | shares (61,906)
Weighted Average Exercise Price, Exercised during period | $ / shares $ 3.09
Number of Options, Forfeited or canceled, during the period | shares (128,569)
Weighted Average Exercise Price, Forfeited or canceled, during the period | $ / shares $ 4.06
Number of Options, Expired, during the period | shares (33,723)
Weighted Average Exercise Price, Expired, during the period | $ / shares $ 16.5
Number of Options, Outstanding ending balance | shares 435,770
Weighted Average Exercise Price, Outstanding ending balance | $ / shares $ 5.31
Number of Options, Exercisable | shares 394,075
Weighted Average Exercise Price, Exercisable | $ / shares $ 5.65