Stock Options and Award Programs (Details 2) - Employee Stock Option - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Number of shares, outstanding and exercisable, options outstanding, Opening balance	7,500	140,000
Number of shares, cancelled		5,000
Number of shares, expired	7,500	127,500
Number of shares, exercised	288,570
Number of shares, outstanding and exercisable, options outstanding, ending balance	288,570	7,500
Number of shares, options vested and expected to vest, ending balance	285,923	7,500
Number of shares, options outstanding and exercisable, ending balance		7,500
Weighted average exercise price per share, outstanding and exercisable, options outstanding, beginning balance	$ 4.90	$ 5.79
Weighted average exercise price per share, cancelled	0	4.40
Weighted average exercise price per share, expired	4.90	5.89
Weighted average exercise price per share, exercised	2.04	0
Weighted average exercise price per share, outstanding and exercisable, options outstanding, ending balance	2.04	4.90
Number of shares, vested and expected to vest, outstanding, weighted average exercise price, ending balance		4.90
Weighted average exercise price per share, options outstanding and exercisable, ending balance	$ 0	$ 4.90