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Note 9 - Stock-based Compensation Plans and Warrants (Details Textual) - USD ($) |  |  | 1 Months Ended | 6 Months Ended | 12 Months Ended | 24 Months Ended |
--- | --- | --- | --- | --- | --- | --- | ---
Jul. 10, 2019 | Dec. 18, 2009 | Jan. 31, 2020 | Jun. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2020 | Dec. 31, 2018
Share-based Payment Arrangement, Expense |  |  |  |  | $ 2,096,000 |  | $ 562,000 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  |  |  | 115,000 | [1] | 492,500 | 115,000 | [1] | 492,500
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) |  |  |  |  | 0 |  | 0 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  |  | 0 |  | 0 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance (in dollars per share) |  |  |  |  | $ 12.17 |  | $ 11.66 | $ 12.17 |  | $ 11.66
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  |  | 253,654 |  | 49,228 |  |  |
Maximum [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance (in dollars per share) |  |  |  |  | $ 12.51 |  |  | 12.51 |  |
Minimum [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance (in dollars per share) |  |  |  |  | $ 9.88 |  |  | $ 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 (in shares) |  | 850,000 |  |  |  |  |  |  |  |
Two Thousand Nine Equity Incentive Plan [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  | 10 years |  |  |  |  |  |  |  |
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 (Month) |  | 24 months |  |  |  |  |  |  |  |
Two Thousand Nineteen Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) | 1,200,000 |  |  |  | 1,200,000 |  |  | 1,200,000 |  |
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 Nineteen Equity Incentive Plan [Member] | Directors, Consultants and Employees [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares) |  |  |  |  |  |  |  | 269,563 |  |
Two Thousand Nineteen Equity Incentive Plan [Member] | Director [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares) |  |  |  | 19,279 |  |  |  | 269,563 |  |
Two Thousand Nineteen Equity Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  |  | $ 240,000 |  |  | $ 240,000 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  | 1 year |  |  |  |  |
Two Thousand Nineteen Equity Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Employees [Member] |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  | 150,000 |  |  |  |  |  |  |
[1] | Exercise prices vary from $9.88 to $12.51, and expiration dates vary from April 2021 to December 2021.

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