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Note 5 - Share-based Compensation (Details Textual) - $ / shares |  | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | --- | ---
Jan. 03, 2023 | Mar. 31, 2023 | Sep. 30, 2023 | Dec. 31, 2022 | Apr. 16, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares) |  |  |  | 5,495,767 | 5,031,097 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) | [1] |  |  | 800,350 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 1.45 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period (in shares) | [2] |  |  | 320,000 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 1.62 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures in Period (in shares) |  |  |  | 15,680 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 3.5 |  |
Minimum [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 1 year 1 month 17 days |  |
Executives and Key Personnel [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  | 406,250 |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 1.38 |  |  |  |
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) |  | 262,500 |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 1.38 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period (in shares) |  |  | 25,000 |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  | $ 1.75 |  |  |
Employees [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  | 24,100 |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 1.38 |  |  |  |
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) |  | $ 1.38 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period (in shares) |  |  | 25,000 |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  | $ 3.99 |  |  |
Consultant Two [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  | 37,500 |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  | $ 2.23 |  |  |  |
Executive Officer [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period (in shares) |  |  | 270,000 |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  | $ 1.39 |  |  |
Terminated Employee [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures in Period (in shares) |  |  |  | 15,680 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 3.5 |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | [3] |  |  | 411,005 |  |
Restricted Stock Units (RSUs) [Member] | Director [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 1 year |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 163,044 |  |  |  |
Restricted Stock Units (RSUs) [Member] | Executive Officer [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 247,961 |  |  |  |
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 |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Consultant Two [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 2 months |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Share-based Compensation Award Tranche Two through Five [Member] | Executives and Key Personnel [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 4 years |  |  |  |
The 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, Options, Outstanding, Number (in shares) |  |  |  | 5,495,767 | 5,031,097 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  | 2,796,886 | 3,672,561 |
The 2011 Plan [Member] | Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Outstanding, Number (in shares) |  |  |  | 163,044 |  |
The 2011 Plan [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 10 years |  |
The 2011 Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  | 1 year |  |
The 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) |  |  |  | 1 year |  |
The 2011 Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member] | Chief Executive Officer [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 5 years |  |
The 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 |  |
The 2011 Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche Two [Member] | Contractor [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 3 years |  |
The 2011 Plan [Member] | Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche Two [Member] | Chief Executive Officer [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  | 10 years |  |
[1] | Represents the following stock options granted: • Annual share-based compensation awards on January 3, 2023, including: (a) 406,250 stock options with an exercise price of $1.38 per share granted to executives and key personnel, upon one year anniversary, or vesting annually in equal installments over four years, (b) 262,500 stock options with an exercise price of $1.38 per share granted to members of the Board of Directors, vesting upon one year anniversary, (c) 24,100 stock options with an exercise price of $1.38 per share granted to employees, vesting annually in equal installments over four years, (d) 15,000 stock options with an exercise price of $1.38 per share granted to a consultant, vesting upon one year anniversary, and (e) 37,500 stock options with an exercise price of $2.23 per share granted to a consultant, vesting over two months from the grant date.
[2] | Represents the following stock options expired:•(a) 270,000 stock options with an exercise price of $1.39 per share granted to an executive, (b) 25,000 stock options with an exercise price of $1.75 per share granted to a member of the Board of Directors, and (c) 25,000 stock options with an exercise price of $3.99 per share granted to a consultant.
[3] | Represents the following restricted stock unit granted: •On January 3, 2023, the Company granted 247,961 RSUs fully vested, to executives and key personnel in lieu of cash bonus earned for the year ended 2022. The Company also granted 163,044 RSUs, vesting upon one year anniversary of the grant, to the Board of Directors as a result of reduction in director cash compensation for 2023. The grant of these RSUs was approved by the Compensation Committee of the Board of Directors in November 2022. The fair value of the common stock is the Company's closing stock price as reported on the Nasdaq Stock Exchange.

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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://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(04) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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