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Note 10 - Stockholders' Equity (Details Textual) - USD ($) |  |  | 12 Months Ended |  |
--- | --- | --- | --- | --- | ---
Dec. 09, 2016 | Nov. 30, 2006 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Dec. 12, 2007
Common Stock, Par or Stated Value Per Share (in dollars per share) |  |  | $ 0.01 | $ 0.01 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  | 618,500 | 417,000 |  |
Share-based Payment Arrangement, Expense |  |  | $ 316,000 | $ 243,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 333,500 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) |  |  | 0 | 0 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  | $ 730,000 |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  | 3 years 5 months 26 days |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  | $ 160,000 | $ 113,000 |  |
Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 4 years |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  | 10 years |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  | $ 3,000 |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  | 2 months 12 days |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  | $ 38,000 | $ 91,000 |  |
Share-based Payment Arrangement, Tranche Three [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  | 25.00% |  |  |
Minimum [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 7 years |  |  |  |  |
Maximum [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 10 years |  |  |  |  |
The 2001 Non-qualified Stock Option Plan [Member] |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  | 300,000 |  |  |  |
Common Stock, Par or Stated Value Per Share (in dollars per share) |  | $ 0.01 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 4 years |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  | 0 | 7,000 | 22,930 |
The 2007 Share Incentive Plan [Member] |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  |  |  |  | 750,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  | 220,000 | 345,000 | 345,000 |
The 2016 Share Incentive Plan [Member] |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | 750,000 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  | 398,500 | 65,000 | 65,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 333,500 |  |  |

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