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Note 11 - Stockholders' Equity (Details Textual) - USD ($) | 3 Months Ended | 6 Months Ended | 9 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Sep. 30, 2023 | Jun. 30, 2023 | Sep. 30, 2022 | Jun. 30, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Jun. 27, 2023 | Dec. 31, 2022 | May 19, 2014
Number of Shares Authorized to Issue (in shares) | 185,000,000 |  |  |  | 185,000,000 |  |  |  |
Common Stock, Shares Authorized (in shares) | 175,000,000 |  |  |  | 175,000,000 |  |  | 175,000,000 |
Common Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.18 |  |  |  | $ 0.18 |  |  | $ 0.18 |
Preferred Stock, Shares Authorized (in shares) | 10,000,000 |  |  |  | 10,000,000 |  |  | 10,000,000 |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  | $ 0.001 |
Stockholder Rights Agreement, Number of Preferred Stock Right Distributed for Each Share of Common Stock (in shares) |  |  |  |  |  |  |  |  | 1
Stockholder Rights Agreement, Acquiring Person, Percentage of Ownership |  |  |  |  |  |  |  |  | 15.00%
Stockholder Rights Agreement, Acquiring Person, Additional Percentage of Ownership |  |  |  |  |  |  |  |  | 2.00%
Stockholder Rights Agreement, Initial Exercise Price of Each Right (in dollars per share) |  |  |  |  |  |  |  |  | $ 15
Stockholder Rights Agreement, Share Price (in dollars per share) |  |  |  |  |  |  |  |  | $ 30
Treasury Stock, Value, Acquired, Cost Method | $ 1,323,000 | $ 152,000 |  |  |  |  |  |  |
Preferred Stock, Shares Issued (in shares) | 1,000 |  |  |  | 1,000 |  |  | 1,000 |
Consummate a Business Combination, Percentage of Acquired Outstanding Shares | 50.00% |  |  |  | 50.00% |  |  |  |
Consummate a Business Combination, Percentage of Aggregate Ordinary Voting Power | 50.00% |  |  |  | 50.00% |  |  |  |
Class of Warrant or Right, Outstanding (in shares) | 21,515,000 |  |  |  | 21,515,000 |  |  |  |
Class of Warrant or Right, Exercised During Period (in shares) | 0 |  | 0 | 0 |  | 0 |  |  |
The 2020 Liability Warrants [Member] |  |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Term (Year) | 4 years |  |  |  | 4 years |  |  |  |
Warrants Associated with 2020 Offering Consisting of Common Stock and Warrants [Member] |  |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Term (Year) | 4 years 6 months |  |  |  | 4 years 6 months |  |  |  |
The 2020 Warrants [Member] |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Each Warrant or Right (in shares) | 1 |  |  |  | 1 |  |  |  |
Warrants Exercisable, Ownership Percentage of Company’s Shares Allowed | 4.99% |  |  |  | 4.99% |  |  |  |
Common Stock, Convertible, Ownership Percentage of Company’s Shares Allowed | 9.99% |  |  |  | 9.99% |  |  |  |
Class of Warrant or Right, Outstanding (in shares) | 6,490,000 |  |  |  | 6,490,000 |  |  |  |
Series A Junior Participating Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Preferred Stock, Shares Authorized (in shares) | 750,000 |  |  |  | 750,000 |  |  |  |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  |  |
Preferred Stock, Shares Issued (in shares) | 0 |  |  |  | 0 |  |  | 0 |
Series A Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Preferred Stock, Shares Authorized (in shares) | 4,000 |  |  |  | 4,000 |  |  |  |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  |  |
Preferred Stock, Shares Issued (in shares) | 0 |  |  |  | 0 |  |  | 0 |
Series B Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Preferred Stock, Shares Authorized (in shares) | 25,000 |  |  |  | 25,000 |  |  |  |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  |  |
Preferred Stock, Convertible, Conversion Price (in dollars per share) | $ 3.52 |  |  |  | $ 3.52 |  |  |  |
Series C Convertible Preferred Stock [Member] |  |  |  |  |  |  |  |  |
Preferred Stock, Shares Authorized (in shares) | 20,000 |  |  |  | 20,000 |  |  |  |
Preferred Stock, Par or Stated Value Per Share (in dollars per share) | $ 0.001 |  |  |  | $ 0.001 |  |  |  |
Preferred Stock, Shares Issued (in shares) | 0 |  |  |  | 0 |  |  | 0 |
Stated Value per Share | $ 1,000 |  |  |  | $ 1,000 |  |  |  |
Preferred Stock, Convertible, Ownership Percentage of Company’s Shares Allowed | 9.99% |  |  |  | 9.99% |  |  |  |
Share Repurchase Program [Member] |  |  |  |  |  |  |  |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) |  |  |  |  |  |  | $ 0.18 |  |
Stock Repurchase Program, Authorized Amount |  |  |  |  |  |  | $ 10,000,000 |  |
Treasury Stock, Shares, Acquired (in shares) | 1,201,000 |  |  |  | 1,320,000 |  |  |  |
Treasury Stock, Value, Acquired, Cost Method | $ 1,323,000 |  |  |  | $ 1,475,000 |  |  |  |

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