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Note 2 - Summary of Significant Accounting Policies (Details Textual) | 12 Months Ended |
--- | --- | ---
Dec. 31, 2018 USD ($) | Dec. 31, 2017 USD ($) | Dec. 31, 2016 USD ($)
Number of Wholly Owned Subsidiaries | 5 |  |
Effective Income Tax Rate Reconciliation, at Federal Statutory Income Tax Rate, Percent | 21.00% | 35.00% |
Asset Impairment Charges, Total | $ 0 | $ 0 |
Capitalized Computer Software, Net, Ending Balance | 0 | 427,000 |
Capitalized Computer Software, Amortization | 144,500 | 36,000 |
Amortization of Intangible Assets, Total | 115,800 | 46,000 |
Research and Development Expense, Total | 606,618 | 437,157 |
Allowance for Doubtful Accounts Receivable, Current, Ending Balance | 24,000 | 2,000 |
Cash and Cash Equivalents, at Carrying Value, Ending Balance | 11,439,361 | 14,210,909 | $ 21,677,186
Cash Equivalents, at Carrying Value, Total | 7,500,000 | 0 |
Cash, Uninsured Amount | 6,920,000 | 12,198,000 |
Cargo and Freight [Member] |  |  |
Revenue from Contract with Customer, Excluding Assessed Tax, Total | $ 61,200 | $ 42,000 |
Customer Concentration Risk [Member] | Export Sales [Member] |  |  |
Concentration Risk, Percentage | 9.90% | 9.60% |
Two Customers [Member] | Customer Concentration Risk [Member] | Accounts Receivable [Member] |  |  |
Concentration Risk, Percentage | 42.00% | 42.00% |
Three Customers [Member] | Customer Concentration Risk [Member] | Accounts Receivable [Member] |  |  |
Concentration Risk, Percentage | 60.00% | 60.00% |
One Customer [Member] | Customer Concentration Risk [Member] | Sales Revenue, Net [Member] |  |  |
Concentration Risk, Percentage | 38.20% | 66.10% |
Minimum [Member] |  |  |
Finite-Lived Intangible Asset, Useful Life | 5 years |  |
Maximum [Member] |  |  |
Finite-Lived Intangible Asset, Useful Life | 20 years |  |
Computer Software, Intangible Asset [Member] | Minimum [Member] |  |  |
Finite-Lived Intangible Asset, Useful Life | 3 years |  |
Computer Software, Intangible Asset [Member] | Maximum [Member] |  |  |
Finite-Lived Intangible Asset, Useful Life | 5 years |  |

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