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Note 12 - Stock-based Compensation (Details Textual) - USD ($) |  |  | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | ---
Jul. 14, 2022 | Oct. 11, 2021 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 09, 2016 | Dec. 12, 2007
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance |  |  | 673,000 | 618,500 | 417,000 |  |
Share-Based Payment Arrangement, Expense |  |  | $ 435,000 | $ 315,000 |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross |  |  | 198,500 | 333,500 |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period |  |  | 10 years |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period |  |  | 4 years |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  | $ 1,100,000 |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  | 2 years 10 months 24 days |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  |  | 25.00% |  |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value |  |  | $ 22,745 | $ 38,000 |  |  |
Director [Member] |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense |  | $ 40,000 |  |  |  |  |
Director [Member] | Restricted Stock [Member] |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense |  |  | $ 160,000 | $ 160,000 |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted |  |  | 32,000 | 36,000 |  |  |
Minimum [Member] |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period | 7 years |  |  |  |  |  |
Maximum [Member] |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period | 10 years |  |  |  |  |  |
The 2007 Share Incentive Plan [Member] |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance |  |  |  |  |  |  | 750,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance |  |  | 120,000 |  |  |  |
The 2016 Share Incentive Plan [Member] |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance |  |  |  |  |  | 750,000 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance |  |  | 477,000 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant |  |  | 27,698 |  |  |  |
The 2022 Equity Incentive Plan [Member] |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance | 515,000 |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance |  |  | 76,000 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant |  |  | 439,000 |  |  |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Aggregate number of common shares reserved for future issuance. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02.29) -URI https://asc.fasb.org/extlink&oid=120391452&loc=d3e13212-122682 + Details
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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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