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Equity Compensation Plans (Details) - Schedule of stock option - USD ($)
 3 Months Ended
Mar. 31, 2022
Mar. 31, 2021
Schedule of stock option [Abstract]    
Number of options Outstanding beginning 3,080,904 2,595,700
Weighted average exercise price Outstanding beginning $ 2.06 $ 1.92
Weighted average contractual term (years) Outstanding beginning  
Aggregate intrinsic value Outstanding beginning $ 1,923,642
Number of options Granted 951,944 543,397
Weighted average exercise price Granted $ 1.54 $ 2.48
Aggregate intrinsic value Granted
Number of options Exercised (162,956) (16,000)
Weighted average exercise price Exercised $ 0.84 $ 0.81
Aggregate intrinsic value Exercised $ 204,030 $ 40,010
Number of options Forfeited (7,333) (4,667)
Weighted average exercise price Forfeited $ 2.22 $ 0.82
Aggregate intrinsic value Forfeited $ 2,273 $ 9,564
Number of options Expired (25,000)  
Weighted average exercise price Expired $ 1.7  
Number of options Outstanding ending 3,837,559 3,118,730
Weighted average exercise price Outstanding ending $ 1.98 $ 2.03
Weighted average contractual term (years) Outstanding ending 7 years 4 months 2 days 7 years 4 months 20 days
Aggregate intrinsic value Outstanding ending $ 925,306 $ 2,681,180
Number of options Vested and exercisable 2,508,822 1,819,541
Weighted average exercise price Vested and exercisable $ 1.25 $ 1.95
Weighted average contractual term (years) Vested and exercisable 6 years 6 months 29 days 7 years 8 months 4 days
Aggregate intrinsic value Vested and exercisable $ 731,891 $ 2,029,793