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Stock Option Plan - Schedule of stock option activity (Details) - USD ($)
 6 Months Ended 12 Months Ended
Jun. 30, 2023
Dec. 31, 2022
2010 Plan    
Shares    
Beginning balance (in Shares) 853,507  
Granted, (in Shares) 0  
Exercised (in Shares) 0  
Forfeited (in Shares) (8,409)  
Expired/Cancelled (in Shares) (23,893)  
Ending balance (in Shares) 821,205 853,507
Options exercisable (in Shares) 798,366  
Options vested (in Shares) 798,366  
Weighted- Average Exercise Price per Share($)    
Beginning balance (in Dollars per share) $ 2.91  
Granted (in Dollars per share) 0  
Exercised (in Dollars per share) 0  
Forfeited (in Dollars per share) 4.66  
Expired/Cancelled (in Dollars per share) 6.54  
Ending balance (in Dollars per share) 2.58 $ 2.91
Options exercisable (in Dollars per share) 2.60  
Options vested (in Dollars per share) $ 2.60  
Weighted- Average Remaining Contractual Term (Years)    
Outstanding, weighted-average remaining contractual term 5 years 5 months 8 days 5 years 8 months 12 days
Options exercisable, weighted average remaining contractual term 3 years 8 months 1 day  
Options vested, weighted average remaining contractual term 3 years 8 months 1 day  
Aggregate Intrinsic Value($)    
Outstanding $ 0 $ 0
Exercisable 0  
Vested $ 0  
2020 Plan    
Shares    
Beginning balance (in Shares) 1,711,112  
Granted, (in Shares) 115,800  
Exercised (in Shares) 0  
Forfeited (in Shares) (24,638)  
Expired/Cancelled (in Shares) (7,887)  
Ending balance (in Shares) 1,794,387 1,711,112
Options exercisable (in Shares) 794,849  
Options vested (in Shares) 794,849  
Weighted- Average Exercise Price per Share($)    
Beginning balance (in Dollars per share) $ 11.71  
Granted (in Dollars per share) 0.57  
Exercised (in Dollars per share) 0  
Forfeited (in Dollars per share) 6.52  
Expired/Cancelled (in Dollars per share) 10.43  
Ending balance (in Dollars per share) 11.07 $ 11.71
Options exercisable (in Dollars per share) 13.25  
Options vested (in Dollars per share) $ 13.25  
Weighted- Average Remaining Contractual Term (Years)    
Outstanding, weighted-average remaining contractual term 8 years 21 days 8 years 5 months 15 days
Options exercisable, weighted average remaining contractual term 7 years 7 months 28 days  
Options vested, weighted average remaining contractual term 7 years 7 months 28 days  
Aggregate Intrinsic Value($)    
Outstanding $ 8,928 $ 0
Exercisable 0  
Vested $ 0