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Note 14 - Subsequent Events (Details Textual) - USD ($) |  |  |  | 1 Months Ended | 3 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Apr. 29, 2020 | Apr. 17, 2020 | Apr. 14, 2020 | Jul. 30, 2020 | Apr. 30, 2020 | Feb. 28, 2019 | Mar. 31, 2020 | Mar. 31, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Jun. 30, 2014
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  |  |  |  |  |  | $ 0.50 | $ 1.45 | $ 0.50 | $ 2.55 |
Share Price (in dollars per share) |  |  |  |  |  |  | $ 0.33 |  |  |  |
Proceeds from Warrant Exercises |  |  |  |  |  |  | $ 230,362 |  |  |  |
Milestone China [Member] |  |  |  |  |  |  |  |  |  |  |
Equity Method Investment, Ownership Percentage |  |  |  |  |  |  | 28.40% |  |  |  | 40.00%
Equity Method Investments |  |  |  |  |  |  |  |  |  |  | $ 1,000,000
Manufacturing Agreement for Handpieces [Member] |  |  |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party |  |  |  |  |  |  | $ 544,000 | $ 338,000 |  |  |
Sale Price in Cash [Member] | Forecast [Member] |  |  |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party |  |  |  | $ 100,000 |  |  |  |  |  |  |
Underwrite Warrants [Member] |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  |  |  |  |  | 141,850 |  |  |  |  |
Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period Shares, Warrants Exercised (in shares) |  | 38,500 |  |  |  |  |  |  |  |  |
Proceeds from Warrant Exercises |  | $ 46,200 |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Milestone China [Member] |  |  |  |  |  |  |  |  |  |  |
Equity Method Investment, Ownership Percentage | 50.00% |  |  |  |  |  |  |  |  |  |
Equity Method Investments | $ 900,000 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Manufacturing Agreement for Handpieces [Member] |  |  |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party | 370,260 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Agreement for STA Instruments [Member] |  |  |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party | 750,000 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Sale Price in Cash [Member] |  |  |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party | $ 100,000 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Sale Price in Share [Member] |  |  |  |  |  |  |  |  |  |  |
Share Price (in dollars per share) | $ 1.59 |  |  |  |  |  |  |  |  |  |
Related Party Transaction, Purchases from Related Party | $ 170,260 |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Underwrite Warrants [Member] |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  | 356,250 | 2,375,000 |  | 2,375,000 |  |  |  |  |  |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  | $ 1.20 | $ 0.50 |  |  |  |  |  |  |  |
Warrants and Rights Outstanding, Term (Year) |  | 3 years |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Underwrite Warrants [Member] | Maxim Group LLC [Member] |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Number of Securities Called by Warrants or Rights (in shares) |  | 335,000 |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Exercised Warrants [Member] |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Exercise Price of Warrants or Rights (in dollars per share) |  | $ 1.20 |  |  |  |  |  |  |  |  |
Public Offering [Member] |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  |  |  |  |  | 5,715,000 |  |  |  |  |
Proceeds from Issuance or Sale of Equity, Total |  |  |  |  |  | $ 2,000,000 |  |  |  |  |
Public Offering [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  | 712,500 | 4,750,000 |  | 4,750,000 |  |  |  |  |  |
Share Price (in dollars per share) |  |  | $ 0.95 |  |  |  |  |  |  |  |
Proceeds from Issuance or Sale of Equity, Total |  | $ 4,700,000 | $ 4,500,000 |  | $ 4,700,000 |  |  |  |  |  |
Public Offering [Member] | Subsequent Event [Member] | Maxim Group LLC [Member] |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  | 200,000 |  |  |  |  |  |  |  |  |
Over-allotment Option Exercise [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) |  | 470,000 |  |  |  |  |  |  |  |  |
Payments of Stock Issuance Costs |  | $ 415,244 |  |  |  |  |  |  |  |  |

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