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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