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Note 9 - Stock-based Compensation Plans and Warrants (Details Textual) - USD ($) |  |  | 1 Months Ended | 12 Months Ended | 54 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Jul. 10, 2019 | Dec. 18, 2009 | Jun. 30, 2014 | Dec. 31, 2019 | Dec. 31, 2018 | Jun. 09, 2014 | Dec. 31, 2017 | Jun. 14, 2014 | Jun. 10, 2014
Share-based Payment Arrangement, Expense |  |  |  | $ 562,000 |  | $ 473,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance |  |  |  | 492,500 | [1] | 492,500 |  | 507,500 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period |  |  |  | 0 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  |  |  | 0 |  | 0 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance |  |  |  | $ 11.66 |  | $ 11.66 |  | $ 11.66 |  |
Maximum [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance |  |  |  | 12.51 |  |  |  |  |  |
Minimum [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance |  |  |  | $ 9.88 |  |  |  |  |  |
Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 0 |  | $ 0 |  |  |  |
Two Thousand Nine Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  | 850,000 |  |  |  |  |  |  | 850,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period |  |  | 45,235 |  |  |  |  |  |  |
Two Thousand Nine Equity Incentive Plan [Member] | Common Stock [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period |  |  |  |  |  |  | 297,265 |  |  |
Two Thousand Nine Equity Incentive Plan [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  | 10 years |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period |  |  |  |  |  |  | 507,500 |  |  |
Two Thousand Nine Equity Incentive Plan [Member] | Share-based Payment Arrangement, Option [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  | 2 years |  |  |  |  |  |  |  |
Twenty Fourteen Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  |  |  |  |  |  |  | 675,000
Two Thousand Nineteen Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized | 1,200,000 |  |  | 1,200,000 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period |  |  |  | 15,909 |  |  |  |  |  |
Two Thousand Nineteen Equity Incentive Plan [Member] | Outside Director [Member] | Accrues Yearly [Member] |  |  |  |  |  |  |  |  |  |
Salary and Wage, Officer, Excluding Cost of Good and Service Sold | $ 50,000 |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Expense | 25,000 |  |  |  |  |  |  |  |  |
Two Thousand Nineteen Equity Incentive Plan [Member] | Outside Director [Member] | Accrues Quarterly [Member] |  |  |  |  |  |  |  |  |  |
Salary and Wage, Officer, Excluding Cost of Good and Service Sold | 12,500 |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Expense | $ 6,250 |  |  |  |  |  |  |  |  |
Two Thousand Fourteen Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  | 675,000 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period |  |  |  | 674,987 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period |  |  |  | 13 |  |  |  |  |  |
Two Thousand Fourteen Equity Incentive Plan [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period |  |  |  | 15,312 |  |  |  |  |  |
[1] | Exercise prices vary from $9.88 to $12.51, and expiration dates vary from January 2020 to December 2021.

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