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Condensed Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - USD ($)
Jun. 30, 2021
Dec. 31, 2020
Accounts receivable, allowance for doubtful accounts $ 532,822 $ 498,044
Inventories, allowance for excess and obsolete inventory 622,403 723,949
Property and equipment, accumulated depreciation 8,099,277 8,908,145
Intangible assets, accumulated depreciations $ 317,395 $ 269,441
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 2,500,000 2,500,000
Preferred stock, shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 100,000,000 100,000,000
Common stock, shares issued (in shares) 21,777,373 21,655,461
Common stock, shares outstanding (in shares) 21,777,373 21,655,461
Convertible Debt [Member]    
Debt unamortized discount $ 2,796,591 $ 0