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Equity Compensation Plans (Details) - Schedule of stock option - USD ($)
 3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Schedule of Stock Option [Abstract]    
Number of options Outstanding beginning 3,919,228 3,080,904
Weighted average exercise price Outstanding beginning $ 1.97 $ 2.06
Aggregate intrinsic value Outstanding beginning $ 52,223 $ 1,923,642
Number of options Vested and exercisable 3,555,094 2,508,822
Weighted average exercise price Vested and exercisable $ 1.98 $ 1.25
Weighted average contractual term (years) Vested and exercisable 6 years 5 months 19 days 6 years 6 months 29 days
Aggregate intrinsic value Vested and exercisable $ 3,016 $ 731,891
Number of options Granted   951,944
Weighted average exercise price Granted   $ 1.54
Aggregate intrinsic value Granted  
Number of options Exercised (1,500) (162,956)
Weighted average exercise price Exercised $ 0.79 $ 0.84
Aggregate intrinsic value Exercised $ 345 $ 204,030
Number of options Forfeited   (7,333)
Weighted average exercise price Forfeited   $ 2.22
Aggregate intrinsic value Forfeited   $ 2,273
Number of options Expired   (25,000)
Weighted average exercise price Expired   $ 1.7
Aggregate intrinsic value Expired  
Number of options Outstanding ending 3,917,728 3,837,559
Weighted average exercise price Outstanding ending $ 1.97 $ 1.98
Weighted average contractual term (years) Outstanding ending 6 years 6 months 14 days 7 years 4 months 2 days
Aggregate intrinsic value Outstanding ending $ 3,016 $ 925,306