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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.