Quarterly report pursuant to Section 13 or 15(d)

Capital Stock, Stock Plans and Stock Based Compensation (Details Narrative)

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Capital Stock, Stock Plans and Stock Based Compensation (Details Narrative) - USD ($)
3 Months Ended 6 Months Ended
Jan. 18, 2024
Mar. 31, 2024
Jun. 30, 2024
Jun. 30, 2023
Dec. 31, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Common stock, par value     $ 0.001   $ 0.001
Proceeds from stock options exercised     $ 218,000 $ 101,000  
Loans payable   $ 2,500,000      
Warrants exercise price   $ 3.51      
Proceeds from warrant exercised   $ 105,000      
Maximum [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Warrant to purchase   30,000      
Common Stock [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Number of shares issued from option exercise     14,717    
Number of option exercised     29,000    
Common Stock [Member] | Share-Based Payment Arrangement, Option [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Number of shares issued from option exercise     20,900    
Number of option exercised     20,900    
Proceeds from stock options exercised     $ 113,000    
Common Stock [Member] | Minimum [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Stock options, exercise price     $ 3.15    
Common Stock [Member] | Minimum [Member] | Share-Based Payment Arrangement, Option [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Stock options, exercise price     3.70    
Common Stock [Member] | Maximum [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Stock options, exercise price     7.005    
Common Stock [Member] | Maximum [Member] | Share-Based Payment Arrangement, Option [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Stock options, exercise price     $ 7.005    
Employee and Directors [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Unrecognized compensation cost related to unvested options consultant     $ 1,595,000    
Weighted average term for unrecognized and unvested option to be recognized     3 years    
2003 Outside Directors Stock Option Plan [Member] | Common Stock [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Stock issued during period for services, shares     24,928    
2003 Outside Directors Stock Plan [Member] | Portion of Director Fee Earned in Common Stock [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Allocated share-based compensation expense     $ 242,000    
Incentive Stock Option Agreement [Member] | 2017 Stock Option Plan [Member]          
Share-Based Compensation Arrangement by Share-Based Payment Award [Line Items]          
Shares options granted 45,000        
Common stock, par value $ 0.001        
Weighted average contractual term (years) outstanding 6 years        
Vesting, description one-fifth vesting annually over a five-year period        
Stock options, exercise price $ 7.75