Stockholders' Equity (Details) - Schedule of activity under the stock option plans - USD ($)		6 Months Ended	12 Months Ended
		Jun. 30, 2021	Dec. 31, 2020
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items]
Weighted Average Exercise Price, Outstanding, Beginning (in Dollars per share)		$ 6.38	$ 6.48
Aggregate Intrinsic Value, Outstanding, Beginning (in Dollars)	[1]	$ (180,038)	$ (516,475)
Weighted Average Exercise Price, Outstanding, Ending (in Dollars per share)		$ 6.90	$ 6.38
Aggregate Intrinsic Value, Outstanding, Ending (in Dollars)	[1]	$ 1,150,755	$ (180,038)
Weighted Average Exercise Price, Vested (in Dollars per share)		$ 6.72
Aggregate Intrinsic Value, Vested (in Dollars)	[1]	$ 746,280
Weighted average exercise price, Vested and expected to vest (in Dollars per share)		$ 6.90
Aggregate Intrinsic Value, Vested and expected to vest (in Dollars)	[1]	$ 1,150,755
Grants		72,000
Weighted Average Exercise Price, Grants (in Dollars per share)		$ 9.79	$ 5.03
Weighted Average Exercise Price, Terminations/forfeitures (in Dollars per share)		6.49	5.45
Weighted Average Exercise Price, Exercises (in Dollars per share)		$ 7.08	$ 3.15
2010 Plan [Member]
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items]
Outstanding, Beginning balance		237,500	255,000
Outstanding, Ending balance		223,500	237,500
Vested		183,500
Vested and expected to vest		223,500
Reserved for future grants
Grants			7,000
Terminations/forfeitures		(7,000)	(12,000)
Exercises		(7,000)	(12,500)
2017 Plan [Member]
Stockholders' Equity (Details) - Schedule of activity under the stock option plans [Line Items]
Outstanding, Beginning balance		176,500	133,500
Outstanding, Ending balance		218,500	176,500
Vested		84,500
Vested and expected to vest		218,500
Reserved for future grants		63,500
Grants		72,000	93,000
Terminations/forfeitures		(12,000)	(50,000)
Exercises		(18,000)

[1] Intrinsic value is the difference between the fair market value of the underlying common stock as of the date indicated and as of the date of the option grant (which is equal to the option exercise price).