Stock Options and Award Programs (Details 1) - Employee Stock Option - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of shares, outstanding and exercisable, options outstanding, Opening balance	140,000	187,334
Number of shares, cancelled	5,000	834
Number of shares, expired	127,500	5,000
Number of shares, exercised		41,500
Number of shares, outstanding and exercisable, options outstanding, ending balance	7,500	140,000
Number of shares, options vested and expected to vest, ending balance	7,500	140,000
Number of shares, options outstanding and exercisable, ending balance	7,500	115,000
Weighted average exercise price per share, outstanding and exercisable, options outstanding, beginning balance	$ 5.66	$ 5.79
Weighted average exercise price per share, cancelled	4.40	4.60
Weighted average exercise price per share, expired	5.89	13.04
Weighted average exercise price per share, exercised	0	4.38
Weighted average exercise price per share, outstanding and exercisable, options outstanding, ending balance	3.54	4.90
Number of shares, vested and expected to vest, outstanding, weighted average exercise price, ending balance	4.90	5.79
Weighted average exercise price per share, options outstanding and exercisable, ending balance	$ 4.90	$ 5.63