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Activity of stock options exercised (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Total intrinsic value of stock options exercised $ (11,982) $ 164,176
Cash received from stock option exercises $ 212,815 $ 151,749
Exercised (in shares) (25,000)  
Equity Option [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]    
Balance as of December 31, 2021 (in shares)   1,378,122
Balance as of December 31, 2022 (in $ per share) $ 2.93 $ 2.81
Granted (in shares) 49,000
Granted (in $ per share) $ 3.03
Exercised (in shares) (138,909) (106,190)
Exercised (in $ per share) $ 1.53 $ 1.43
Canceled (in shares) (6,698) (24,210)
Canceled (in $ per share) $ 1.46 $ 3.12
Balance as of December 31, 2022 (in shares) 1,296,722  
Balance as of December 31, 2023 (in shares) 1,151,115 1,296,722
Balance as of December 31, 2023 (in $ per share) $ 3.11 $ 2.93
Exercisable (in shares) 1,068,449  
Exercisable (in $ per share) $ 2.88  
Unvested (in shares) 82,666  
Unvested (in $ per share) $ 6.08