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Note L - Stock Option Plans - Summary of Option Activity for Employees and Non-employees (Details) - USD ($)
 12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2015
Weighted average remaining contractual life, outstanding (Year) 3 years 14 days    
Aggregate intrinsic value, outstanding $ 25,160    
Number of options exercisable (in shares) 13,174,416 1,054,202  
Weighted average exercise price, exercisable (in dollars per share) $ 1.84 $ 1.65  
Weighted average remaining contractual life, exercisable (Year) 2 years 167 days 2 years 186 days  
Aggregate intrinsic value, exercisable $ 8,537 $ 102,605  
Weighted average exercise price, granted (in dollars per share) $ 1.73 $ 1.70  
Weighted average remaining contractual life, granted (Year) 4 years 251 days    
Aggregate intrinsic value, granted $ 25,610    
Number of options forfeited and expired (in shares)   (100,000)  
Weighted average exercise price, forfeited or expired (in dollars per share) $ 2.35  
Number of options (in shares) 1,985,325    
Weighted average exercise price, outstanding (in dollars per share) $ 1.74    
Employee Stock Option [Member]      
Number of options (in shares) 1,511,995 1,419,436  
Weighted average exercise price, outstanding (in dollars per share) $ 1.74 $ 1.56  
Weighted average remaining contractual life, outstanding (Year)   2 years 354 days 2 years 288 days
Aggregate intrinsic value, outstanding   $ 102,605 $ 1,220,338
Number of options exercisable (in shares)     1,041,680
Weighted average exercise price, exercisable (in dollars per share)     $ 1.29
Weighted average remaining contractual life, exercisable (Year)     2 years 149 days
Aggregate intrinsic value, exercisable     $ 1,135,819
Number of options granted (in shares) 1,006,741 520,337  
Weighted average exercise price, granted (in dollars per share) $ 1.82 $ 1.79  
Weighted average remaining contractual life, granted (Year)   4 years 138 days  
Aggregate intrinsic value, granted    
Number of options exercised (in shares) (83,333) (327,778)  
Weighted average exercise price, exercised (in dollars per share) $ 0.75 $ 0.75  
Number of options forfeited and expired (in shares) (1,250,068)    
Number of options (in shares)   1,511,995 1,419,436
Weighted average exercise price, outstanding (in dollars per share)   $ 1.74 $ 1.56
Non-employee Options [Member]      
Number of options (in shares) 224,999 8,333  
Weighted average exercise price, outstanding (in dollars per share) $ 2.53 $ 2.70  
Weighted average remaining contractual life, outstanding (Year) 3 years 186 days 5 years 116 days 4 years 302 days
Aggregate intrinsic value, outstanding
Number of options exercisable (in shares) 23,067 14,734 2,777
Weighted average exercise price, exercisable (in dollars per share) $ 2.22 $ 2.72 $ 2.70
Weighted average remaining contractual life, exercisable (Year) 4 years 138 days 4 years 131 days 4 years 302 days
Aggregate intrinsic value, exercisable
Number of options granted (in shares) 216,666  
Weighted average exercise price, granted (in dollars per share) $ 2.53  
Aggregate intrinsic value, granted  
Number of options exercised (in shares)  
Weighted average exercise price, exercised (in dollars per share)  
Number of options (in shares) 224,999 224,999 8,333
Weighted average exercise price, outstanding (in dollars per share) $ 2.52 $ 2.53 $ 2.70