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Stock-Based Compensation, Outstanding and Exercisable Options under Stock Based Compensation Plans (Details)
12 Months Ended
Dec. 31, 2022
$ / shares
shares
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 5,745,561
Options Outstanding, Weighted Average Remaining Contractual Life 7 years 4 months 17 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.9
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 3,551,395
Options Exercisable, Number of Shares (in dollars per share) $ 3.35
$0.87-$1.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 120,500
Options Outstanding, Weighted Average Remaining Contractual Life 3 years 11 months 15 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 0.89
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 120,500
Options Exercisable, Number of Shares (in dollars per share) $ 0.89
$1.01-$3.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 4,364,521
Options Outstanding, Weighted Average Remaining Contractual Life 8 years 1 month 9 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.19
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 2,300,356
Options Exercisable, Number of Shares (in dollars per share) $ 2.31
$3.01-$5.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 903,040
Options Outstanding, Weighted Average Remaining Contractual Life 5 years 10 months 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 4.14
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 773,039
Options Exercisable, Number of Shares (in dollars per share) $ 4.31
$5.01 - $8.00 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 220,000
Options Outstanding, Weighted Average Remaining Contractual Life 5 years 1 month 9 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 5.92
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 220,000
Options Exercisable, Number of Shares (in dollars per share) $ 5.92
$8.01-$13.38 [Member]  
Options Outstanding [Abstract]  
Options Outstanding, Number of Shares (in shares) | shares 137,500
Options Outstanding, Weighted Average Remaining Contractual Life 1 year 21 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 13.38
Options Exercisable [Abstract]  
Options Exercisable, Number of Shares (in shares) | shares 137,500
Options Exercisable, Number of Shares (in dollars per share) $ 13.38
Minimum [Member] | $0.87-$1.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 0.87
Minimum [Member] | $1.01-$3.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 1.01
Minimum [Member] | $3.01-$5.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 3.01
Minimum [Member] | $5.01 - $8.00 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 5.01
Minimum [Member] | $8.01-$13.38 [Member]  
Options Outstanding [Abstract]  
Minimum Exercise Price (in dollars per share) 8.01
Maximum [Member] | $0.87-$1.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 1
Maximum [Member] | $1.01-$3.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 3
Maximum [Member] | $3.01-$5.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 5
Maximum [Member] | $5.01 - $8.00 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) 8
Maximum [Member] | $8.01-$13.38 [Member]  
Options Outstanding [Abstract]  
Maximum Exercise Price (in dollars per share) $ 13.38