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Note 12 - Stock-based Compensation - Outstanding and Exercisable Options (Details) - USD ($) | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Number of options outstanding, weighted average exercise price (in dollars per share) | $ 5.70 | $ 7.32 | $ 11.26
Exercise Price Range 1 [Member] |  |  |
Exercise price range, lower limit (in dollars per share) | 4.00 |  |
Exercise price range, upper limit (in dollars per share) | $ 7.00 |  |
Number of options outstanding (in shares) | 533,000 |  |
Number of options outstanding, weighted average remaining contractual term (Year) | 8 years 7 months 6 days |  |
Number of options outstanding, weighted average exercise price (in dollars per share) | $ 4.53 |  |
Number of options outstanding, intrinsic value | $ 492,765 |  |
Number of options exercisable (in shares) | 125,500 |  |
Number of options exercisable, weighted average exercise price (in dollars per share) | $ 4.44 |  |
Number of options exercisable, intrinsic value | $ 111,375 |  |
Exercise Price Range 2 [Member] |  |  |
Exercise price range, lower limit (in dollars per share) | $ 7.01 |  |
Exercise price range, upper limit (in dollars per share) | $ 10.00 |  |
Number of options outstanding (in shares) | 20,000 |  |
Number of options outstanding, weighted average remaining contractual term (Year) | 5 years 3 months 18 days |  |
Number of options outstanding, weighted average exercise price (in dollars per share) | $ 8.07 |  |
Number of options outstanding, intrinsic value | $ 0 |  |
Number of options exercisable (in shares) | 20,000 |  |
Number of options exercisable, weighted average exercise price (in dollars per share) | $ 8.07 |  |
Number of options exercisable, intrinsic value | $ 0 |  |
Exercise Price Range 3 [Member] |  |  |
Exercise price range, lower limit (in dollars per share) | $ 10.01 |  |
Exercise price range, upper limit (in dollars per share) | $ 12.00 |  |
Number of options outstanding (in shares) | 120,000 |  |
Number of options outstanding, weighted average remaining contractual term (Year) | 4 years 2 months 12 days |  |
Number of options outstanding, weighted average exercise price (in dollars per share) | $ 10.52 |  |
Number of options outstanding, intrinsic value | $ 0 |  |
Number of options exercisable (in shares) | 120,000 |  |
Number of options exercisable, weighted average exercise price (in dollars per share) | $ 10.52 |  |
Number of options exercisable, intrinsic value | $ 0 |  |

X
- Definition The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan. + 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 (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + 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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- Definition Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan. + 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 (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + 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 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + 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 -Subparagraph (c)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + 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 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable. + 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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