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Note 8 - Stock-based Compensation - Summary of Outstanding Stock Options by Exercise Price Range (Details)
 12 Months Ended
Dec. 31, 2022
$ / shares
shares
Number of Options (in shares) | shares 384,500
Weighted- Average Remaining Contractual Life (Year) 2 years 4 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 2.98
Range One [Member]  
Lower Range Limit (in dollars per share) 0.96
Upper Range Limit (in dollars per share) $ 1.27
Number of Options (in shares) | shares 88,000
Weighted- Average Remaining Contractual Life (Year) 4 years 10 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 0.97
Range Two [Member]  
Lower Range Limit (in dollars per share) 1.28
Upper Range Limit (in dollars per share) $ 2.01
Number of Options (in shares) | shares 27,000
Weighted- Average Remaining Contractual Life (Year) 3 years 4 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 1.58
Range Three [Member]  
Lower Range Limit (in dollars per share) 2.02
Upper Range Limit (in dollars per share) $ 3.15
Number of Options (in shares) | shares 105,000
Weighted- Average Remaining Contractual Life (Year) 2 years 4 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 2.44
Range Four [Member]  
Lower Range Limit (in dollars per share) 3.16
Upper Range Limit (in dollars per share) $ 4.54
Number of Options (in shares) | shares 70,000
Weighted- Average Remaining Contractual Life (Year) 4 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 3.85
Range Five [Member]  
Lower Range Limit (in dollars per share) 4.55
Upper Range Limit (in dollars per share) $ 5.22
Number of Options (in shares) | shares 94,500
Weighted- Average Remaining Contractual Life (Year) 1 year 4 months 24 days
Weighted-Average Exercise Price (in dollars per share) $ 5.22