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Stock Option Plan - Schedule of stock option activity (Details)
 6 Months Ended 12 Months Ended
Jun. 30, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
$ / shares
shares
2010 Plan    
Shares    
Beginning balance (in Shares) | shares 1,035,035  
Granted, (in Shares) | shares 0  
Exercised (in Shares) | shares (42,729)  
Forfeited (in Shares) | shares (36,065)  
Expired/Cancelled (in Shares) | shares (5,310)  
Ending balance (in Shares) | shares 950,931 1,035,035
Options exercisable (in Shares) | shares 836,687  
Options vested (in Shares) | shares 836,687  
Weighted- Average Exercise Price per Share($)    
Beginning balance (in Dollars per share) | $ / shares $ 3.21  
Granted (in Dollars per share) | $ / shares 0  
Exercised (in Dollars per share) | $ / shares 2.42  
Forfeited (in Dollars per share) | $ / shares 7.61  
Expired/Cancelled (in Dollars per share) | $ / shares 1.37  
Ending balance (in Dollars per share) | $ / shares 3.09 $ 3.21
Options exercisable (in Dollars per share) | $ / shares 2.52  
Options vested (in Dollars per share) | $ / shares $ 2.52  
Weighted- Average Remaining Contractual Term (Years)    
Outstanding, weighted-average remaining contractual term 5 years 2 months 26 days 5 years 10 months 24 days
Options exercisable, weighted average remaining contractual term 4 years 10 months 2 days  
Options vested, weighted average remaining contractual term 4 years 10 months 2 days  
Aggregate Intrinsic Value($)    
Outstanding | $ $ 2,264,735 $ 5,688,201
Exercisable | $ 2,257,456  
Vested | $ $ 2,257,456  
2020 Plan    
Shares    
Beginning balance (in Shares) | shares 1,602,850  
Granted, (in Shares) | shares 121,100  
Exercised (in Shares) | shares 0  
Forfeited (in Shares) | shares (128,450)  
Expired/Cancelled (in Shares) | shares (1,250)  
Ending balance (in Shares) | shares 1,594,250 1,602,850
Options exercisable (in Shares) | shares 422,327  
Options vested (in Shares) | shares 422,327  
Weighted- Average Exercise Price per Share($)    
Beginning balance (in Dollars per share) | $ / shares $ 13.18  
Granted (in Dollars per share) | $ / shares 6.87  
Exercised (in Dollars per share) | $ / shares 0  
Forfeited (in Dollars per share) | $ / shares 10.18  
Expired/Cancelled (in Dollars per share) | $ / shares 8.25  
Ending balance (in Dollars per share) | $ / shares 12.84 $ 13.18
Options exercisable (in Dollars per share) | $ / shares 13.38  
Options vested (in Dollars per share) | $ / shares $ 13.38  
Weighted- Average Remaining Contractual Term (Years)    
Outstanding, weighted-average remaining contractual term 8 years 9 months 29 days 9 years 3 months 7 days
Granted, weighted average remaining contractual term 9 years 10 months 9 days  
Options exercisable, weighted average remaining contractual term 8 years 8 months 26 days  
Options vested, weighted average remaining contractual term 8 years 8 months 26 days  
Aggregate Intrinsic Value($)    
Outstanding | $ $ 0 $ 46,920
Exercisable | $ 0  
Vested | $ $ 0