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Note 16 - Commitments and Contingencies (Details Textual) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
IIA [Member] |  |  |
Royalty Payment Percentage, as Percentage of Grant Received | 100.00% |  |
Accrued Royalties, Current | $ 28,778 |  |
IIA [Member] | Cost of Revenues [Member] |  |  |
Royalty Expense | $ 1,221 | $ 1,175,000 | $ 1,066,000
Minimum [Member] |  |  |
Percentage of Royalty Expense | 3.00% |  |
Minimum [Member] | IIA [Member] |  |  |
Percentage of Royalty Expense |  | 3.00% |
Maximum [Member] |  |  |
Percentage of Royalty Expense | 3.50% |  |
Maximum [Member] | IIA [Member] |  |  |
Percentage of Royalty Expense | 3.50% |  |

X
- Definition Represents the royalty percentage that the company or a subsidiary thereof is obligated to pay out of the sales of certain products, the development of which grants were received in previous years. + References No definition available. + Details
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- Definition Represents the royalty payment percentage, expressed as a percentage of grant received. + References No definition available. + Details
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- Definition Carrying value as of the balance sheet date of obligations incurred through that date and payable for royalties. Used to reflect the current portion of the liabilities (due within one year or within the normal operating cycle if longer). + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.20) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 Reference 2: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section 45 -Paragraph 8 -Subparagraph (c) -URI https://asc.fasb.org/extlink&oid=124098289&loc=d3e6935-107765 + Details
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- Definition Amount of expense related to royalty payments under a contractual arrangement such as payment for mineral and drilling rights and use of technology or intellectual property. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 220 -SubTopic 10 -Section S99 -Paragraph 2 -Subparagraph (SX 210.5-03.3) -URI https://asc.fasb.org/extlink&oid=126953954&loc=SL114868664-224227 + Details
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