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Note 6 - Share-based Compensation (Details Textual) - USD ($) |  |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | --- | ---
Mar. 22, 2020 | Jan. 02, 2020 | Jan. 01, 2019 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Apr. 28, 2011
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  |  | 4,638,390 |  | 3,860,390 | 3,552,890 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  | 913,000 | [1] | 1,089,000 |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 5.24 | [1] | $ 2.26 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) |  |  |  | 135,000 | [2] | 781,500 |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Exercises in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 1.89 | [2] | $ 1.60 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  | $ 2.09 |  | $ 0.69 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  |  | $ 481,139 |  | $ 2,925,662 |  |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  |  |  | $ 477,232 |  | $ 222,330 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years 10 months 2 days |  | 1 year 9 months 29 days |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 1,651,893 |  | $ 1,171,079 |  |
Contractor [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) | 25,000 |  |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ 3.99 |  |  |  |  |  |  |
Executives and Key Personnel [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  | 525,000 |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 5.27 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Requisite Service Period (Year) |  | 1 year |  |  |  |  |  |
Director [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  | 325,000 |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 5.27 |  |  |  |  |  |
Employees [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  | 23,000 |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 5.27 |  |  |  |  |  |
Consultant [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  | 15,000 |  |  |  |  |  |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 5.27 |  |  |  |  |  |
Share-based Payment Arrangement, Option [Member] | Contractor [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 6 months |  |  |  |  |  |  |
Share-based Payment Arrangement, Option [Member] | Executives and Key Personnel [Member] | Share-based Compensation Award Tranche Two through Five [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 4 years |  |  |  |  |  |
Share-based Payment Arrangement, Option [Member] | Director [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 1 year |  |  |  |  |  |
Share-based Payment Arrangement, Option [Member] | Employees [Member] | Minimum [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 4 years |  |  |  |  |  |
Share-based Payment Arrangement, Option [Member] | Consultant [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 1 year |  |  |  |  |  |
Performance Shares [Member] |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Expense |  |  |  | $ 0 |  | $ 483,000 |  |
A 2011 Plan [Member] |  |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  |  |  |  |  |  | 3,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) |  |  | 1,500,000 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  |  | 4,638,390 |  | 3,860,390 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  | 2,134,211 |  | 1,547,211 |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 10 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Share-based Payment Arrangement, Tranche One [Member] | Contractor [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 2 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Share-based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 3 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 5 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Chief Executive Officer [Member] | Share-based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 5 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Chief Executive Officer [Member] | Share-based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 10 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Contractor [Member] | Share-based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 2 years |  |  |  |
A 2011 Plan [Member] | Share-based Payment Arrangement, Option [Member] | Contractor [Member] | Share-based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 3 years |  |  |  |
[1] | Represents the following stock options granted: Annual share-based compensation awards on January 2, 2020, including: (a) 525,000 stock options with an exercise price of $5.27 per share granted to executives and key personnel, vesting upon one year anniversary, or annually in equal installments over four years,(b) 325,000 stock options with an exercise price of $5.27 per share granted to members of the Board of Directors, vesting upon one year anniversary, (c) 23,000 stock options with an exercise price of $5.27 per share granted to employees, vesting annually in equal installments over four years, and (d) 15,000 stock options with an exercise price of $5.27 per share granted to a consultant, vesting upon one year anniversary. One-time awards on March 22, 2020, including 25,000 stock options to a contractor with an exercise price of $3.99 per share, vesting in six months from the date of grant.
[2] | Represents the following stock options exercised: A total of 135,000 stock options exercised with a weighted average market price of $1.89.

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- Definition Estimated period over which an employee is required to provide service in exchange for the equity-based payment award, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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