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Note 9 - Stock-Based Compensation - Schedule of Share-Based Payment Award (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Balance, outstanding (in shares) 3,763,000  
Balance, Weighted-Average Exercise Price (in dollars per share) $ 2.29  
Balance, outstanding (in shares) 4,694,000 3,763,000
Balance, Weighted-Average Exercise Price (in dollars per share) $ 4.63 $ 2.29
The 2019 Stock Plan [Member]    
Balance, Shares Available for Grant (in shares) 142,000 380,000
Balance, outstanding (in shares) 3,763,000 5,327,000
Balance, Weighted-Average Exercise Price (in dollars per share) $ 2.29 $ 1.14
Authorized, shares (in shares) 1,338,000 816,000
Options Granted, shares (in shares) (1,307,000) (1,141,000)
Options Granted, shares (in shares) 1,307,000 1,141,000
Options Granted, Weighted-Average Exercise Price (in dollars per share) $ 10.97 $ 5.60
Exercised, outstanding (in shares) (295,000) (2,498,000)
Exercised, Weighted-Average Exercise Price (in dollars per share) $ 0.93 $ 1.39
Forfeited/expired, shares available (in shares) 81,000 241,000
Forfeited/expired, outstanding (in shares) (81,000) (207,000)
Forfeited/expired, Weighted-Average Exercise Price (in dollars per share) $ 11.63 $ 1.84
Balance, Shares Available for Grant (in shares) 165,000 142,000
Balance, outstanding (in shares) 4,694,000 3,763,000
Balance, Weighted-Average Exercise Price (in dollars per share) $ 4.63 $ 2.29
The 2019 Stock Plan [Member] | Restricted Stock [Member]    
RSAs Granted, shares (in shares) (89,000) (154,000)