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Equity (Tables)
12 Months Ended
Dec. 31, 2021
Stockholders' Equity Note [Abstract]  
Schedule of weighted average number of shares outstanding
Twelve Months Ended December 31,
 202120202019
Weighted average number of shares outstanding:
Common stock26,343,352 26,205,923 26,031,391 
Common stock equivalents: stock options, grants70,662 140,527 117,724 
Diluted shares outstanding26,414,014 26,346,450 26,149,115