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Equity Compensation Plans (Details) - Schedule of stock option - USD ($)
6 Months Ended
Jun. 30, 2022
Jun. 30, 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 $ 2,491,026
Number of options Granted 1,050,468 568,278
Weighted average exercise price Granted $ 1.48 $ 2.5
Aggregate intrinsic value Granted
Number of options Exercised (162,956) (21,333)
Weighted average exercise price Exercised $ 0.84 $ 0.8
Aggregate intrinsic value Exercised $ 204,030 $ 48,496
Number of options Forfeited (7,333) (25,335)
Weighted average exercise price Forfeited $ 2.22 $ 2.28
Aggregate intrinsic value Forfeited $ 2,273 $ 30,987
Number of options Expired (25,000)  
Weighted average exercise price Expired $ 1.7  
Number of options Outstanding ending 3,936,083 3,117,310
Weighted average exercise price Outstanding ending $ 1.96 $ 2.03
Weighted average contractual term (years) Outstanding ending 7 years 2 months 1 day 7 years 2 months 1 day
Aggregate intrinsic value Outstanding ending $ 39,412 $ 3,555,431
Number of options Vested and exercisable 2,707,122 2,084,461
Weighted average exercise price Vested and exercisable $ 2.06 $ 2.01
Weighted average contractual term (years) Vested and exercisable 6 years 6 months 29 days 7 years 2 months 8 days
Aggregate intrinsic value Vested and exercisable $ 39,412 $ 2,635,699