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Note 16 - Stock Option and Purchase Plans - Summary of Option Activity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Outstanding, options (in shares) 1,977,250 2,746,250
Outstanding, weighed average exercise price, options (in dollars per share) $ 1.11 $ 1.10
Granted, options (in shares) 260,000 38,000
Granted, weighed average exercise price, options (in dollars per share) $ 2.60 $ 3.24
Exercised, options (in shares) (138,900) (687,500)
Exercised, weighed average exercise price, options (in dollars per share) $ 1.11 $ 1.21
Forfeited, options (in shares) (51,000) (107,000)
Forfeited, weighed average exercise price, options (in dollars per share) $ 0.86 $ 0.93
Expired, options (in shares) (15,500) (12,500)
Expired, weighed average exercise price, options (in dollars per share) $ 1.15 $ 0.96
Outstanding, options (in shares) 2,031,850 1,977,250
Outstanding, weighed average exercise price, options (in dollars per share) $ 1.31 $ 1.11
Outstanding, weighted average remaining term, options (Year) 2 years 7 days  
Outstanding, aggregate intrinsic value, options $ 1,690,000  
Exercisable, options (in shares) 907,250  
Exercisable, weighed average exercise price, options (in dollars per share) $ 1.30  
Exercisable, weighted average remaing term, options (Year) 10 months 2 days  
Exercisable, aggregate intrinsic value, options $ 676,000