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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%