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Note 12 - Related Party Transactions (Details Textual) - USD ($) | 1 Months Ended | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Feb. 28, 2019 | Jan. 31, 2017 | Aug. 31, 2016 | Mar. 31, 2020 | Mar. 31, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Jun. 30, 2014
Stock Issued During Period, Value, Issued for Services |  |  |  | $ 25,000 |  |  |  |
Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Deferred Compensation Arrangement with Individual, Compensation Expense |  |  |  | 517,000 |  | $ 386,000 |  |
Chief Financial Officer [Member] |  |  |  |  |  |  |  |
Deferred Compensation Arrangement with Individual, Compensation Expense |  |  |  | 65,600 |  | 56,800 |  |
Director [Member] |  |  |  |  |  |  |  |
Deferred Compensation Arrangement with Individual, Compensation Expense |  |  |  | 433,000 |  | 380,000 |  |
Director of Clinical Affairs [Member] |  |  |  |  |  |  |  |
Royalty Expense |  |  |  | 95,000 | $ 91,490 |  |  |
Professional Fees |  |  |  | 39,000 | 39,000 |  |  |
Accounts Payable, Related Parties |  |  |  | 467,000 |  | 390,000 |  |
Milestone China [Member] |  |  |  |  |  |  |  |
Revenue from Related Parties |  |  |  | 0 | 50,000 |  |  |
Capitalized Contract Before Reserve Adjustment |  |  |  | $ 1.25 |  |  | $ 1,250,000 |
Equity Method Investment, Ownership Percentage |  |  |  | 28.40% |  |  |  | 40.00%
United Systems [Member] |  |  |  |  |  |  |  |
Capitalized Contract Cost, Net, Total |  |  |  |  |  |  | 686,365 |
Wand Dental Inc [Member] |  |  |  |  |  |  |  |
Deferred Revenue, Current, Total |  |  |  | $ 342,540 |  | 342,540 |  |
Manufacturing Agreement for Handpieces [Member] |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party |  |  |  | 544,000 | 338,000 |  |  |
Due to Related Parties, Total |  |  |  | 928,000 |  | $ 943,000 |  |
Consulting Services [Member] |  |  |  |  |  |  |  |
Consulting Services Agreement, Term (Year) |  |  | 3 years |  |  |  |  |
Related Party Transaction, Expenses from Transactions with Related Party |  |  |  | 25,000 | 25,000 |  |  |
Consulting Services [Member] | United Systems [Member] |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Issued for Services (in shares) | 285,714 |  |  |  |  |  |  |
Shares Issued, Price Per Share (in dollars per share) | $ 0.35 |  |  |  |  |  |  |
Stock Issued During Period, Value, Issued for Services | $ 100,000 |  |  |  |  |  |  |
Distributor Agreement to Milestone China [Member] | United Systems [Member] |  |  |  |  |  |  |  |
Revenue from Related Parties |  |  |  |  |  |  | $ 750,000 |
Consultant [Member] | Innovest S.p.A. [Member] |  |  |  |  |  |  |  |
Consulting Services Agreement, Term (Year) |  | 1 year |  |  |  |  |  |
Related Party Transaction, Expenses from Transactions with Related Party |  |  |  | $ 20,000 | $ 20,000 |  |  |

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