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Note 12 - Subsequent Events (Details Textual) - USD ($) |  | 1 Months Ended | 2 Months Ended | 3 Months Ended | 9 Months Ended | 12 Months Ended
--- | --- | --- | --- | --- | --- | ---
Feb. 11, 2021 | Aug. 31, 2021 | Feb. 28, 2021 | Jan. 31, 2021 | Jul. 31, 2020 | Feb. 28, 2021 | Sep. 30, 2021 | Sep. 30, 2020 | Sep. 30, 2021 | Sep. 30, 2020 | Dec. 31, 2020 | Dec. 31, 2019
Revenue from Contract with Customer, Including Assessed Tax |  |  |  |  |  |  | $ 30,414 | $ 415,458 | $ 220,539 | $ 1,572,037 | $ 1,823,658 | $ 1,175,896
Stock Issued During Period, Shares, Warrants Exercised (in shares) |  |  |  |  |  |  |  |  |  |  | 36,902 |
Proceeds from Warrant Exercises |  | $ 230,000 | $ 3,174,156 |  |  |  |  |  | $ 3,404,156 | $ 0 | $ 2,500 | $ 0
Stock Issued During Period, Shares, New Issues (in shares) | 1,644,000 |  |  |  |  |  |  |  |  |  |  |
Shares Issued, Price Per Share (in dollars per share) | $ 6.25 |  |  |  |  |  |  |  |  |  |  |
Proceeds from Issuance of Common Stock | $ 9,400,000 |  |  |  |  |  |  |  |  |  |  |
Over-Allotment Option [Member] |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) | 204,000 |  |  |  |  |  |  |  |  |  |  |
Series I Warrants [Member] |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Warrants Exercised (in shares) |  |  |  |  | 29,755 |  |  |  |  |  |  |
Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |  |
Proceeds from Warrant Exercises |  |  |  |  |  | $ 3,174,156 |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) | 1,644,000 |  |  |  |  |  |  |  |  |  |  |
Shares Issued, Price Per Share (in dollars per share) | $ 6.25 |  |  |  |  |  |  |  |  |  |  |
Proceeds from Issuance of Common Stock | $ 9,400,000 |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Over-Allotment Option [Member] |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, New Issues (in shares) | 204,000 |  |  |  |  |  |  |  |  |  |  |
Subsequent Event [Member] | Series I Warrants [Member] |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Exercised During Period (in shares) |  |  |  |  |  | 62,626 |  |  |  |  |  |
Subsequent Event [Member] | Pre-Funded Warrants [Member] |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Exercised During Period (in shares) |  |  |  |  |  | 126,042 |  |  |  |  |  |
Subsequent Event [Member] | Unit Warrants [Member] |  |  |  |  |  |  |  |  |  |  |  |
Class of Warrant or Right, Exercised During Period (in shares) |  |  |  |  |  | 690,034 |  |  |  |  |  |
Subsequent Event [Member] | Common Stock Warrants [Member] |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Warrants Exercised (in shares) |  |  |  |  |  | 835,900 |  |  |  |  |  |
SBIR Grant [Member] | Subsequent Event [Member] |  |  |  |  |  |  |  |  |  |  |  |
Revenue from Contract with Customer, Including Assessed Tax |  |  |  | $ 299,927 |  |  |  |  |  |  |  |

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