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Note 9 - Stock-based Compensation Expense - Stock Option Plan (Details)
 9 Months Ended
Sep. 30, 2022
$ / shares
shares
Granted during period (in shares) 178,500
Ending balance, number outstanding (in shares) 678,000
Number of shares exercisable (in shares) 290,500
The 2007 Share Incentive Plan [Member]  
Beginning balance, number outstanding (in shares) 220,000
Granted during period (in shares) 0
Exercised during period (in shares) 0
Canceled during period (in shares) (75,000)
Ending balance, number outstanding (in shares) 145,000
Number of shares exercisable (in shares) 145,000
Beginning balance, weighted average exercise price (in dollars per share) | $ / shares $ 12.56
Granted during period, weighted average exercise price (in dollars per share) | $ / shares 0
Exercised during period, weighted average exercise price (in dollars per share) | $ / shares 0
Canceled during period, weighted average exercise price (in dollars per share) | $ / shares 15.00
Ending balance, weighted average exercise price (in dollars per share) | $ / shares 11.29
Number of options exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 11.29
The 2016 Share Incentive Plan [Member]  
Beginning balance, number outstanding (in shares) 398,500
Granted during period (in shares) 102,500
Exercised during period (in shares) 0
Canceled during period (in shares) (44,000)
Ending balance, number outstanding (in shares) 457,000
Number of shares exercisable (in shares) 145,500
Beginning balance, weighted average exercise price (in dollars per share) | $ / shares $ 4.43
Granted during period, weighted average exercise price (in dollars per share) | $ / shares 4.97
Exercised during period, weighted average exercise price (in dollars per share) | $ / shares 0
Canceled during period, weighted average exercise price (in dollars per share) | $ / shares 4.25
Ending balance, weighted average exercise price (in dollars per share) | $ / shares 4.56
Number of options exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 4.94
The 2022 Equity Incentive Plan [Member]  
Beginning balance, number outstanding (in shares) 0
Granted during period (in shares) 76,000
Exercised during period (in shares) 0
Canceled during period (in shares) 0
Ending balance, number outstanding (in shares) 76,000
Number of shares exercisable (in shares) 0
Beginning balance, weighted average exercise price (in dollars per share) | $ / shares $ 0
Granted during period, weighted average exercise price (in dollars per share) | $ / shares 5.13
Exercised during period, weighted average exercise price (in dollars per share) | $ / shares 0
Canceled during period, weighted average exercise price (in dollars per share) | $ / shares 0
Ending balance, weighted average exercise price (in dollars per share) | $ / shares 5.13
Number of options exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 0