Stockholders' Equity - Schedule of 2010 Non-Qualified Stock Option Plan (Details) - shares		12 Months Ended
	Apr. 08, 2021	Dec. 31, 2023	Dec. 31, 2022
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning of year		2,027,350	2,193,288
Options granted	25,000	470,000	279,500
Options exercised		(102,125)	(339,125)
Options forfeited		(129,875)	(106,313)
Options outstanding, end of year		2,265,350	2,027,350
2010 Non-Qualified Stock Option Plan [Member]
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]
Options outstanding, beginning of year		243,750	331,250
Options granted		0	100,000
Options exercised		(5,000)	(147,500)
Options forfeited		0	(40,000)
Options outstanding, end of year		238,750	243,750