Equity Incentive Plans, Stock Option Plan Activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Number of Options [Roll Forward]
Beginning balance (in shares)	689,995	743,627
Granted (in shares)	367,670	0
Exercised (in shares)	(9,445)	(44,698)
Expired (in shares)	(10,558)	(556)
Forfeited (in shares)	(106,112)	(8,378)
Ending balance (in shares)	931,550	689,995
Weighted Average Exercise Price [Abstract]
Beginning balance (in dollars per share)	$ 3.58	$ 3.6
Granted (in dollars per share)	5.33	0
Exercised (in dollars per share)	1.71	2.83
Expired (in dollars per share)	27	27
Forfeited (in dollars per share)	4.09	5.43
Ending balance (in dollars per share)	$ 3.97	$ 3.58
Stock Options Granted Under Our Stock Option Plans [Abstract]
Options granted (in shares)	367,670	0
Intrinsic value of options exercised	$ 3,306	$ 159,062
Employees [Member]
Number of Options [Roll Forward]
Granted (in shares)	299,670	0
Stock Options Granted Under Our Stock Option Plans [Abstract]
Options granted (in shares)	299,670	0
Nonemployee [Member]
Number of Options [Roll Forward]
Granted (in shares)	68,000	0
Stock Options Granted Under Our Stock Option Plans [Abstract]
Options granted (in shares)	68,000	0