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Share-Based Compensation (Details) - Schedule of Employees and Directors Stock Options - $ / shares
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Schedule of Employees and Directors Stock Options [Abstract]        
Number of options, Outstanding at beginning of period 2,929,868 2,399,622 2,939,434 2,142,547
Weighted average exercise price, Outstanding at beginning of period $ 5.84 $ 5.95 $ 5.85 $ 6.02
Number of options, Granted       264,700
Weighted average exercise price, Granted       $ 5.48
Number of options, Forfeited and expired (14,375) (3,000) (23,941) (3,000)
Weighted average exercise price, Forfeited and expired $ 6.82 $ 5.34 $ 6.71 $ 5.34
Number of options, Exercised (7,625)   (15,250)
Weighted average exercise price, Exercised $ 6.49   $ 6.49
Number of options, Outstanding at end of period 2,915,493 2,388,997 2,915,493 2,388,997
Weighted average exercise price, Outstanding at end of period $ 5.84 $ 5.95 $ 5.84 $ 5.95
Number of options, Exercisable at end of period 2,090,378 1,728,623 2,090,378 1,728,623
Weighted average exercise price, Exercisable at end of period $ 5.59 $ 5.1 $ 5.59 $ 5.1
Number of options, Non-vested at beginning of period 876,851 722,749 986,005 529,082
Weighted average exercise price, Non-vested at beginning of period $ 6.48 $ 7.67 $ 6.46 $ 8.69
Number of options, Vested (37,861) (59,375) (145,515) (130,408)
Weighted average exercise price, Vested $ 11.13 $ (8.78) $ 7.44 $ 7.82
Number of options, Forfeited (13,875) (3,000) (15,375) (3,000)
Weighted average exercise price, Forfeited $ 5.9 $ (5.34) $ 6.73 $ 5.34
Number of options, Non-vested at the end of period 825,115 660,374 825,115 660,374
Weighted average exercise price, Non-vested at the end of period $ 6.27 $ 7.59 $ 6.27 $ 7.59