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Note 6 - Common Stock Options - Changes in Common Stock Options Issued (Details) - $ / shares
 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Options outstanding (in shares) 4,656,677 5,327,425
Granted (in shares) 146,600 130,000
Exercised (in shares) (743,279)
Forfeitures (in shares) (97,308) (88,374)
Options outstanding (in shares) 4,705,969 4,625,772
Minimum [Member]    
Options outstanding, exercise price (in dollars per share) $ 2.71 $ 2.71
Granted, exercise price (in dollars per share) 5.62 15.83
Exercised, exercise price (in dollars per share) 2.71
Forfeitures, exercise price (in dollars per share) 4.95 4.14
Options outstanding, exercise price (in dollars per share) 2.71 2.71
Maximum [Member]    
Options outstanding, exercise price (in dollars per share) 21.74 21.99
Granted, exercise price (in dollars per share) 11.50 17.49
Exercised, exercise price (in dollars per share) 21.99
Forfeitures, exercise price (in dollars per share) 21.74 19.30
Options outstanding, exercise price (in dollars per share) 21.74 21.99
Weighted Average [Member]    
Options outstanding, exercise price (in dollars per share) 10.68 6.09
Granted, exercise price (in dollars per share) 7.16 16.69
Exercised, exercise price (in dollars per share) 6.87
Forfeitures, exercise price (in dollars per share) 14.06 9.55
Options outstanding, exercise price (in dollars per share) $ 10.50 $ 16.30