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Condensed Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - $ / shares
Sep. 30, 2023
Dec. 31, 2022
 [1]
Common stock, par value (in dollars per share) $ 1 $ 1
Common stock, authorized (in shares) 50,000,000 50,000,000
Common stock, issued (in shares) 27,502,121 24,477,471
Common stock, outstanding (in shares) 18,671,470 16,225,399
Undesignated Par Value [Member]    
Preferred stock, no par value (in dollars per share) $ 0 $ 0
Preferred stock, authorized (in shares) 1,000,000 1,000,000
Designated Par Value [Member]    
Preferred stock, authorized (in shares) 25,000 25,000
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, outstanding (in shares) 0 0
[1] Derived from audited financial statements