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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