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Note 5 - Stockholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares | Sep. 30, 2023 | Dec. 31, 2022 | Apr. 16, 2019
--- | --- | --- | ---
Options, Outstanding, Number (in shares) | 838,706 | 882,892 |
Total (in shares) | 5,868,113 |  |
Restricted Stock Units (RSUs) [Member] |  |  |
Equity Instruments Other than Options, Nonvested, Number (in shares) | 339,505 | 271,951 |
Performance Shares [Member] |  |  |
Equity Instruments Other than Options, Nonvested, Number (in shares) | 424,393 | 383,103 |
Equity Incentive Plan 2019 [Member] |  |  |
Options, Outstanding, Number (in shares) | 838,706 |  |
Number of Shares Authorized (in shares) | 3,134,739 |  | 2,400,000
Equity Incentive Plan 2019 [Member] | Restricted Stock Units (RSUs) [Member] |  |  |
Equity Instruments Other than Options, Nonvested, Number (in shares) | 339,505 |  |
Equity Incentive Plan 2019 [Member] | Performance Shares [Member] |  |  |
Equity Instruments Other than Options, Nonvested, Number (in shares) | 424,393 |  |
Employee Stock Purchase Plan 2019 [Member] |  |  |
Number of Shares Authorized (in shares) | 1,130,770 |  |

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