Stockholders' Equity (Details) - USD ($)			1 Months Ended									12 Months Ended
	Apr. 14, 2021	Feb. 03, 2016	Mar. 29, 2019	Nov. 20, 2018	Dec. 21, 2017	Jul. 27, 2017	Jun. 30, 2017	Oct. 21, 2016	Oct. 28, 2015	Jun. 30, 2010	Sep. 30, 1995	Dec. 31, 2021	Dec. 31, 2020	Jun. 10, 2020	Dec. 31, 2019	Jun. 14, 2018
Stockholders' Equity (Details) [Line Items]
Potential issuance or sale of equity									$ 10,000,000
Gross proceeds	$ 4,233,000	$ 5,900,000	$ 9,000,000		$ 3,050,000							$ 165,337	$ 39,366
Registration statement, description									Having raised $10,000,000 in gross proceeds under the February 2016, July 2017 and December 2017 equity transactions described below, no additional equity securities can be issued under this registration statement.
Common stock shares sold (in Shares)	515,156	1,123,810	1,636,364		417,807
Sale of stock, per share (in Dollars per share)	$ 8.25	$ 5.25	$ 5.5		$ 7.3
Net proceeds	$ 4,250,000	$ 5,313,000	$ 8,303,000		$ 2,734,000
Potential issuance cost in equity securities				$ 20,000,000
Option outstanding of exercise price (in Dollars per share)												$ 6.94	$ 6.38		$ 6.48
Stock option granted during the period (in Shares)												86,000
Exercise prices (in Dollars per share)												$ 7.08	$ 3.15
Weighted-average grant date fair values of options granted (in Dollars per share)												$ 4.51
Common stock, shares authorized (in Shares)												15,000,000	15,000,000
Investor [Member]
Stockholders' Equity (Details) [Line Items]
Gross proceeds						$ 1,050,000
Net proceeds						$ 1,034,000
Closing share price (in Dollars per share)						$ 5.25
Common stock shares issued (in Shares)						200,000
February 2016 to April 2021 [Member]
Stockholders' Equity (Details) [Line Items]
Potential issuance or sale of equity												$ 4,553,017
Gross proceeds												$ 26,714,000
Employee Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Share-based payment, description												As of December 31, 2021, total unrecognized stock-based compensation related to non-vested stock options aggregated $349,477, which will be recognized over a weighted average remaining period of 1 year and 10 months.
Aggregate intrinsic value of options exercised												$ 64,977	$ 35,375
Weighted-average grant date fair values of options granted (in Dollars per share)												$ 4.51	$ 2.47
Equity Option [Member]
Stockholders' Equity (Details) [Line Items]
Share-based payment, description												During the year ended December 31, 2021, one director and three employees exercised stock options covering 25,000 shares by the surrender of 17,128 shares of common stock with a fair market value of $165,337 at the time of exercise and the payment of $11,693 in cash.	During the year ended December 31, 2020, two employees exercised stock options covering 12,500 shares by the surrender of 6,583 stock options with a fair market value of the underlying common stock equal to $39,366 at the time of exercise and the payment of $9 in cash.
Private Placement [Member]
Stockholders' Equity (Details) [Line Items]
Gross proceeds								$ 3,464,000
Common stock shares sold (in Shares)								659,880
Net proceeds								$ 3,161,000
Closing share price (in Dollars per share)								$ 5.25
Minimum [Member] | Equity Option [Member]
Stockholders' Equity (Details) [Line Items]
Common stock, shares authorized (in Shares)														11,000,000		8,000,000
Maximum [Member] | Equity Option [Member]
Stockholders' Equity (Details) [Line Items]
Common stock, shares authorized (in Shares)														15,000,000		11,000,000
2010 Plan [Member] | Employee [Member] | Employee Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Common stock reserved for issuance under the plan (in Shares)										300,000		218,500
Stock option expiration period										10 years
Weighted average remaining life of options outstanding												5 years
Weighted average remaining life of options exercisable												4 years
2010 Plan [Member] | Minimum [Member] | Employee Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Option outstanding of exercise price (in Dollars per share)												$ 4
Exercise prices (in Dollars per share)												6.1	$ 4
2010 Plan [Member] | Maximum [Member] | Employee Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Option outstanding of exercise price (in Dollars per share)												10.04
Exercise prices (in Dollars per share)												$ 10.04	$ 6.37
2017 Plan [Member] | Employee [Member] | Employee Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Common stock reserved for issuance under the plan (in Shares)							300,000					224,500
Stock option expiration period							10 years
Weighted average remaining life of options exercisable												3 months
2017 Plan [Member] | Employee [Member] | Employee Stock Option [Member]
Stockholders' Equity (Details) [Line Items]
Stock option granted during the period (in Shares)												86,000	100,000
Common Stock Rights Plan [Member]
Stockholders' Equity (Details) [Line Items]
Share-based payment, description											At any time after a person or group becomes an Acquiring Person and prior to the acquisition by such person or group of 50% or more of the outstanding common stock, the Board of Directors of the Company may exchange the Rights (other than Rights owned by such person or group which have become void), in whole or in part, at an exchange ratio of one share of common stock per Right (subject to adjustment). At any time prior to 14 days following the date that any person or group becomes an Acquiring Person (subject to extension by the Board of Directors), the Board of Directors of the Company may redeem the then outstanding Rights in whole, but not in part, at a price of $0.005 per Right, subject to adjustment.
Common stock purchase price (in Dollars per share)											$ 70
Employee stock, plan description											The Rights (as amended) become exercisable and transferable apart from the common stock upon the earlier of i) 10 days following a public announcement that a person or group (Acquiring Person) has, without the prior consent of the Continuing Directors (as such term is defined in the Rights Agreement), acquired beneficial ownership of 20% or more of the outstanding common stock or ii) 10 days following commencement of a tender offer or exchange offer the consummation of which would result in ownership by a person or group of 20% or more of the outstanding common stock (the earlier of such dates being called the Distribution Date).		our Board of Directors has voted to authorize amendments of the Rights Agreement to extend the Final Expiration Date, which is currently September 19, 2022. Our Board of Directors also has voted to authorize amendments to increase the ownership threshold for determining “Acquiring Person” status to 20%. During the second quarter of 2015, our Board of Directors also voted to authorize an amendment to remove a provision that prevented a new group of directors elected following the emergence of an Acquiring Person (an owner of more than 20% of our stock) from controlling the Rights Plan by maintaining exclusive authority over the Rights Plan with pre-existing directors.
Sale of common stock, description											the holder of each Right not owned by the Acquiring Person would be entitled to purchase common stock at a discount to the initial purchase price of $70.00 per share, effectively equal to one half of the market price of a share of common stock on the date the Acquiring Person becomes an Acquiring Person. If, after the Distribution Date, the Company should consolidate or merge with any other entity and the Company were not the surviving company, or, if the Company were the surviving company, all or part of the Company’s common stock were changed or exchanged into the securities of any other entity, or if more than 50% of the Company’s assets or earning power were sold, each Right would entitle its holder to purchase, at the Rights’ then-current purchase price,