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Stock Options and Warrants - Schedule of Weighted Average Remaining life (Details) - Underlying Options Shares - $ / shares	6 Months Ended
	Jun. 30, 2024	Jun. 30, 2023	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options Outstanding	1,088,845	1,161,828	1,126,023	1,203,928
Weighted Average Remaining Life (years)	5 years 9 months 14 days	6 years 6 months 7 days
Options Exercisable	720,685	654,758
$10.00 - $12.99
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price, Lower Range Limit	$ 10
Exercise Price, Upper Range Limit	$ 12.99
Options Outstanding	116,800	146,553
Weighted Average Remaining Life (years)	6 months 14 days	1 year 5 months 15 days
Options Exercisable	116,800	146,553
$13.00 - $16.99
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price, Lower Range Limit	$ 13
Exercise Price, Upper Range Limit	$ 16.99
Options Outstanding	414,495	440,275
Weighted Average Remaining Life (years)	5 years 1 month 6 days	5 years 11 months 26 days
Options Exercisable	355,285	344,905
$17.00 - $26.99
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Exercise Price, Lower Range Limit	$ 17
Exercise Price, Upper Range Limit	$ 26.99
Options Outstanding	557,550	575,000
Weighted Average Remaining Life (years)	7 years 4 months 28 days	8 years 2 months 23 days
Options Exercisable	248,600	163,300