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Note 6 - Share-based Compensation (Details Textual) - USD ($) |  |  |  |  |  | 12 Months Ended |  |
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Dec. 06, 2023 | Oct. 23, 2023 | Sep. 15, 2023 | May 30, 2023 | Jan. 03, 2023 | Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021 | Apr. 16, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares) |  |  |  |  |  |  | 5,469,247 |  | 5,031,097 | 4,774,215 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  |  |  |  | 805,350 | [1] | 865,825 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | $ 1.45 | [1] | $ 4.43 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period (in shares) |  |  |  |  |  |  | 351,520 | [2] | 200,000 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | $ 1.71 | [2] | $ 5.47 |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | 3.5 | [3] | 4.81 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  |  |  |  | $ 0.81 |  | $ 2.49 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  |  |  |  |  | $ 0 |  | $ 365,000 |  |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  |  |  |  |  |  | $ 559,121 |  | $ 919,000 |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  |  |  | 2 years 8 months 4 days |  | 2 years 9 months 3 days |  |
Share-Based Payment Arrangement, Expense |  |  |  |  |  |  | $ 1,244,121 |  | $ 1,888,944 |  |
Minimum [Member] |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  |  |  |  |  |  | 5 years 6 months |  |
Maximum [Member] |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term (Year) |  |  |  |  |  |  |  |  | 6 years 3 months |  |
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 |  |  |  |  |  |
Consultant Three [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  | 55,000 |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  | $ 1.75 |  |  |  |  |  |  |
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 |  |  |  |
Former Employee [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Expirations in Period (in shares) |  |  |  |  |  |  | 31,520 |  |  |  |
Former Employee [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | $ 1.39 |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | 1.39 |  |  |  |
Former Employee [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Expirations in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | 5.27 |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price (in dollars per share) |  |  |  |  |  |  | $ 5.27 |  |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense |  |  |  |  |  |  | $ 1,004,054 |  | $ 1,888,944 |  |
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] | Consultant Three [Member] |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 1 year 6 months |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Employee [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 5,000 |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) |  |  | $ 1.66 |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Employee [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 4 years |  |  |  |  |  |  |  |
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 |  |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | [4] |  |  |  |  |  | 461,005 |  |  |  |
Share-Based Payment Arrangement, Expense |  |  |  |  |  |  | $ 240,067 |  | 0 |  |
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) |  | 50,000 |  |  |  | 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 |  |  |  |  |
Performance Award [Member] |  |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense |  |  |  |  |  |  | $ 0 |  | $ 0 |  |
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) |  |  |  |  |  |  | 5,469,247 |  | 5,031,097 |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  |  |  |  | 2,773,406 |  | 3,672,561 |  |
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, and (d) 15,000 stock options with an exercise price of $1.38 per share granted to a consultant, vesting upon one year anniversary. • Throughout the year the following stock options were granted: (a) on May 30, 2023, 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, (b) on September 15, 2023, 55,000 stock options with an exercise price of $1.75 per share granted to a consultant, vesting over a year and half from the grant date, and (c) on October 23, 2023, 5,000 stock options with an exercise price of $1.66 per share granted to an employee vesting annually in equal installments over four years.
[2] | Represents the following stock options expired: • 270,000 stock options with an exercise price of $1.39 per share granted to executive, (b) 25,000 stock options with an exercise price of $3.99 per share granted to a consultant, (c) 25,000 stock options with an exercise price of $1.75 per share granted to a member of the Board of Directors, (d) 31,520 stock options with an exercise price ranging between $1.39 and $5.27 per share granted to a former employee.
[3] | Represents the cancellation of unvested portion of the stock options granted previously to a former employee with exercise price ranging between $1.39 to $5.27.
[4] | On January 3, 2023, the Company granted 247,961 RSUs with immediate vesting, to executives and key personnel in lieu of cash bonuses 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 the Board agreeing to a reduction in director cash compensation for 2023. On December 6, 2023, the Company granted 50,000 RSUs to a consultant, vesting at the end of the service period.

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480566/210-10-S99-1 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Amount of cost to be recognized for option under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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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 Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + 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 number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(2)(iii)(01) -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 Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(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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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + 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)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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