Equity Incentive Plans, Options Outstanding and Vested and Currently Exercisable by Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.97	$ 3.58	$ 3.6
Option outstanding, outstanding (in shares)	931,550	689,995	743,627
Option outstanding, weighted average remaining life years	6 years 2 months 23 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	449,441
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 3.32
Options vested and exercisable, Weighted average remaining life years	4 years 6 months 29 days
2021 Plan [Member]
Option outstanding [Abstract]
Common stock reserved for issuance (in shares)	1,325,247
$1.13 - 1.67 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	91,100
Option outstanding, weighted average remaining life years	9 years 7 months 2 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	0
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 0
$1.13 - 1.67 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	1.67
$1.13 - 1.67 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.13
$1.68 - 1.86 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	193,335
Option outstanding, weighted average remaining life years	3 years 2 months 15 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	82,224
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 1.71
Options vested and exercisable, Weighted average remaining life years	3 years 2 months 15 days
$1.68 - 1.86 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.86
$1.68 - 1.86 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.68
$1.87 - 3.14 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	166,850
Option outstanding, weighted average remaining life years	9 years 1 month 2 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	0
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 0
$1.87 - 3.14 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	3.14
$1.87 - 3.14 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 1.87
$3.15 - 3.60 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	259,836
Option outstanding, weighted average remaining life years	4 years 6 months
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	259,836
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 3.24
Options vested and exercisable, Weighted average remaining life years	4 years 6 months
$3.15 - 3.60 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.6
$3.15 - 3.60 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.15
$3.61 - 5.31 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	68,616
Option outstanding, weighted average remaining life years	5 years 2 months 23 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	68,616
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 3.97
Options vested and exercisable, Weighted average remaining life years	5 years 2 months 23 days
$3.61 - 5.31 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 5.31
$3.61 - 5.31 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 3.61
$5.32 - 9.56 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	51,813
Option outstanding, weighted average remaining life years	6 years 11 months 12 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	38,765
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 6.12
Options vested and exercisable, Weighted average remaining life years	6 years 11 months 12 days
$5.32 - 9.56 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 9.56
$5.32 - 9.56 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 5.32
$9.57 - 13.00 [Member]
Option outstanding [Abstract]
Option outstanding, outstanding (in shares)	100,000
Option outstanding, weighted average remaining life years	9 years 25 days
Options vested and exercisable [Abstract]
Options vested and exercisable, Number of option vested (in shares)	0
Options vested and exercisable, Weighted average exercise price (in dollars per share)	$ 0
$9.57 - 13.00 [Member] | Maximum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	13
$9.57 - 13.00 [Member] | Minimum [Member]
Option outstanding [Abstract]
Option outstanding, exercise price (in dollars per share)	$ 9.57