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Note 16 - Stock Option and Purchase Plans - Summary of Option Activity (Details) - USD ($)
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Outstanding, options (in shares) 2,031,850 1,970,250
Outstanding, weighed average exercise price, options (in dollars per share) $ 1.31 $ 1.11
Granted, options (in shares) 372,750 260,000
Granted, weighed average exercise price, options (in dollars per share) $ 1.97 $ 2.6
Exercised, options (in shares) (525,600) (138,900)
Exercised, weighed average exercise price, options (in dollars per share) $ 1.41 $ 1.11
Forfeited, options (in shares) (32,250) (51,000)
Forfeited, weighed average exercise price, options (in dollars per share) $ 1.31 $ 0.86
Expired, options (in shares) (22,500) (15,500)
Expired, weighed average exercise price, options (in dollars per share) $ 1.5 $ 1.15
Outstanding, options (in shares) 1,824,250 2,031,850
Outstanding, weighed average exercise price, options (in dollars per share) $ 1.41 $ 1.31
Outstanding, weighted average remaining term, options (Year) 2 years 7 days  
Outstanding, aggregate intrinsic value, options $ 1,315,300  
Exercisable, options (in shares) 1,164,500  
Exercisable, weighed average exercise price, options (in dollars per share) $ 0.92  
Exercisable, weighted average remaing term, options (Year) 11 months 19 days  
Exercisable, aggregate intrinsic value, options $ 1,293,175