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Note 12 - Stock-based Compensation - Restricted Stock and Restricted Stock Units Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Restricted Stock [Member]    
Unvested outstanding, shares (in shares) 0 0
Unvested outstanding, weighted average grant date fair value (in dollars per share) $ 0 $ 0
Granted, shares (in shares) 32,000 42,800
Granted, weighted average grant date fair value (in dollars per share) $ 5.02 $ 4.65
Vested, shares (in shares) (32,000) (36,000)
Vested, weighted average grant date fair value (in dollars per share) $ 5.02 $ 4.60
Forfeited or cancelled, shares (in shares) 0 (6,800)
Forfeited or cancelled, weighted average grant date fair value (in dollars per share) $ 0 $ 4.90
Unvested outstanding, shares (in shares) 0 0
Unvested outstanding, weighted average grant date fair value (in dollars per share) $ 0 $ 0
Restricted Stock Units (RSUs) [Member]    
Unvested outstanding, shares (in shares) 5,500 8,750
Unvested outstanding, weighted average grant date fair value (in dollars per share) $ 4.82 $ 5.00
Granted, shares (in shares) 0 0
Granted, weighted average grant date fair value (in dollars per share) $ 0 $ 0
Vested, shares (in shares) (5,500) (3,250)
Vested, weighted average grant date fair value (in dollars per share) $ 4.82 $ 5.29
Forfeited or cancelled, shares (in shares) 0 0
Forfeited or cancelled, weighted average grant date fair value (in dollars per share)   $ 0
Unvested outstanding, shares (in shares) 0 5,500
Unvested outstanding, weighted average grant date fair value (in dollars per share) $ 0 $ 4.82