Stock Options and Award Programs (Details 1) - Employee Stock Option - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Number of shares, outstanding and exercisable, options outstanding, Opening balance	187,334	350,833
Number of shares, cancelled	834	11,666
Number of shares, expired	5,000	49,333
Number of shares, exercised	41,500	102,500
Number of shares, outstanding and exercisable, options outstanding, ending balance	140,000	187,334
Number of shares, options vested and expected to vest, ending balance	140,000	186,197
Number of shares, options outstanding and exercisable, ending balance	115,000	134,834
Weighted average exercise price per share, outstanding and exercisable, options outstanding, beginning balance	$ 5.66	$ 5.89
Weighted average exercise price per share, cancelled	4.60	4.47
Weighted average exercise price per share, expired	13.04	6.03
Weighted average exercise price per share, exercised	4.38	6.40
Weighted average exercise price per share, outstanding and exercisable, options outstanding, ending balance	3.54	5.66
Number of shares, vested and expected to vest, outstanding, weighted average exercise price, ending balance	5.79	5.67
Weighted average exercise price per share, options outstanding and exercisable, ending balance	$ 5.63	$ 5.37