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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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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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