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Note 16 - Stock Option and Purchase Plans (Tables) | 12 Months Ended
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Dec. 31, 2023
Notes Tables |
Schedule of Share-Based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block] |
|  | Year ended December 31, |
|  | 2023 |  |  | 2022 |
Expected life (years) |  |  | 4.3 |  |  |  | 4.3 |
Expected volatility |  |  | 85.1 | % |  |  | 86.5 | %
Risk-free interest rates |  |  | 4.23 | % |  |  | 1.69 | %
Expected dividend yield |  |  | 0 | % |  |  | 0 | %
Share-Based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Grant Date Fair Value Per Share |  |  | Weighted Average Remaining Term |  |  | Aggregate Intrinsic Value |
Nonvested shares at January 1, 2022 |  |  | 197,500 |  |  | $ | 3.16 |  |  |  |  |  |  |  |  |
Granted |  |  | 197,500 |  |  |  | 2.59 |  |  |  |  |  |  |  |  |
Vested |  |  | 0 |  |  |  | 0 |  |  |  |  |  |  |  |  |
Forfeited |  |  | 0 |  |  |  | 0 |  |  |  |  |  |  |  |  |
Nonvested shares at December 31, 2022 |  |  | 395,000 |  |  |  | 2.88 |  |  |  |  |  |  |  |  |
Granted |  |  | 160,000 |  |  |  | 1.97 |  |  |  |  |  |  |  |  |
Vested |  |  | 0 |  |  |  | 0 |  |  |  |  |  |  |  |  |
Forfeited |  |  | (42,500 | ) |  |  | 2.29 |  |  |  |  |  |  |  |  |
Nonvested shares at December 31, 2023 |  |  | 512,500 |  |  | $ | 2.64 |  |  |  | 1.2 |  |  | $ | 1,040,375 |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Exercise Price Per Share |  |  | Weighted Average Remaining Term |  |  | Aggregate Intrinsic Value |
Outstanding at January 1, 2022 |  |  | 1,970,250 |  |  | $ | 1.11 |  |  |  |  |  |  |  |  |
Granted |  |  | 260,000 |  |  |  | 2.60 |  |  |  |  |  |  |  |  |
Exercised |  |  | (138,900 | ) |  |  | 1.11 |  |  |  |  |  |  |  |  |
Forfeited |  |  | (51,000 | ) |  |  | 0.86 |  |  |  |  |  |  |  |  |
Expired |  |  | (15,500 | ) |  |  | 1.15 |  |  |  |  |  |  |  |  |
Outstanding at December 31, 2022 |  |  | 2,031,850 |  |  |  | 1.31 |  |  |  |  |  |  |  |  |
Granted |  |  | 372,750 |  |  |  | 1.97 |  |  |  |  |  |  |  |  |
Exercised |  |  | (525,600 | ) |  |  | 1.41 |  |  |  |  |  |  |  |  |
Forfeited |  |  | (32,250 | ) |  |  | 1.31 |  |  |  |  |  |  |  |  |
Expired |  |  | (22,500 | ) |  |  | 1.50 |  |  |  |  |  |  |  |  |
Outstanding at December 31, 2023 |  |  | 1,824,250 |  |  | $ | 1.41 |  |  |  | 2.02 |  |  | $ | 1,315,300 |
Exercisable at December 31, 2023 |  |  | 1,164,500 |  |  | $ | 0.92 |  |  |  | 0.97 |  |  | $ | 1,293,175 |

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- Definition Tabular disclosure of the number and weighted-average grant date fair value for restricted stock units that were outstanding at the beginning and end of the year, and the number of restricted stock units that were granted, vested, or forfeited during the year. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of employee stock purchase plans, including, but not limited to: (a) expected term, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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