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Stock Options and Warrants - Schedule of Weighted Average Remaining life (Details) - Underlying Options Shares - $ / shares
12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Options Outstanding 1,203,928 1,220,428 660,251
Weighted Average Remaining Life (years) 7 years 21 days 8 years 1 month 9 days  
Options Exercisable 527,658 361,758  
$10.00 - $12.99      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Exercise Price, Lower Range Limit $ 10.00    
Exercise Price, Upper Range Limit $ 12.99    
Options Outstanding 146,553 162,223  
Weighted Average Remaining Life (years) 1 year 11 months 15 days 5 years 1 month 24 days  
Options Exercisable 146,553 162,223  
$13.00 - $16.99      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Exercise Price, Lower Range Limit $ 13.00    
Exercise Price, Upper Range Limit $ 16.99    
Options Outstanding 435,175 496,955  
Weighted Average Remaining Life (years) 6 years 5 months 12 days 7 years 5 months 23 days  
Options Exercisable 280,905 199,535  
$17.00 - $26.99      
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]      
Exercise Price, Lower Range Limit $ 17.00    
Exercise Price, Upper Range Limit $ 26.99    
Options Outstanding 622,200 561,250  
Weighted Average Remaining Life (years) 8 years 8 months 8 days 9 years 6 months 7 days  
Options Exercisable 100,200