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Note 11 - Share Based Compensation - Stock Option Activity (Details) - USD ($)
12 Months Ended
Dec. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Inducement Plan [Member]        
Covered Shares (in shares) 150,000   200,000  
Weighted- Average Exercise Price (in dollars per share) $ 0.85   $ 0.85  
Weighted- Average Remaining Contractual Term (Year) 7 years 8 months 1 day   8 years 8 months 1 day 9 years 8 months 1 day
Aggregate Intrinsic Value $ 45,000 $ 45,000 $ 57,000 $ 60,000.00
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 0   0  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares) 50,000   50,000  
Exercised/cancelled, weighted-average exercise price (in dollars per share) $ 0.85   $ 0.85  
Exercised/ cancelled, aggregate intrinsic value $ 45,000   $ 37,000  
Forfeited or expired, covered shares (in shares) 0   0  
Covered Shares (in shares) 100,000 100,000 150,000 200,000
Weighted- Average Exercise Price (in dollars per share) $ 0.85 $ 0.85 $ 0.85 $ 0.85
Exercisable, covered shares (in shares) 0 0    
Exercisable, weighted-average exercise price (in dollars per share) $ 0 $ 0    
Exercisable, aggregate intrinsic value $ 0 $ 0    
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) $ 0   $ 0  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value $ 45,000   $ 37,000  
Forfeited or expired, weighted-average exercise price (in dollars per share) $ 0   $ 0  
Forfeited or expired, covered shares (in shares) 0   (0)  
CEO Inducement Plan [Member]        
Covered Shares (in shares) 630,000   0  
Weighted- Average Exercise Price (in dollars per share) $ 1.90   $ 0  
Weighted- Average Remaining Contractual Term (Year) 8 years 1 month 24 days   9 years  
Aggregate Intrinsic Value $ 0 $ 0 $ 0 $ 0
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)     630,000  
Covered Shares (in shares) 630,000 630,000 630,000 0
Weighted- Average Exercise Price (in dollars per share) $ 1.90 $ 1.90 $ 1.90 $ 0
Exercisable, covered shares (in shares) 630,000 630,000    
Exercisable, weighted-average exercise price (in dollars per share) $ 1.90 $ 1.90    
Exercisable, weighted average remaining contractual term (Year) 8 years 1 month 24 days      
Exercisable, aggregate intrinsic value $ 0 $ 0    
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share)     $ 1.90  
Granted, weighted-average remaining contractual term (Year)     9 years 1 month 24 days  
Granted, weighted-average exercise price (Year)     9 years 1 month 24 days  
The 2008 Plan [Member]        
Covered Shares (in shares) 691,162   1,457,936  
Weighted- Average Exercise Price (in dollars per share) $ 1.53   $ 1.31  
Weighted- Average Remaining Contractual Term (Year) 2 years 1 month 28 days   2 years 7 months 6 days 3 years 7 months 17 days
Aggregate Intrinsic Value $ 68,000 $ 68,000 $ 72,000 $ 113,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 0   0  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares) 57,500   679,062  
Exercised/cancelled, weighted-average exercise price (in dollars per share) $ 1.07   $ 1.08  
Exercised/ cancelled, aggregate intrinsic value $ 10,000   $ 295,000  
Forfeited or expired, covered shares (in shares) (120,562)   (87,712)  
Covered Shares (in shares) 513,100 513,100 691,162 1,457,936
Weighted- Average Exercise Price (in dollars per share) $ 1.63 $ 1.63 $ 1.53 $ 1.31
Exercisable, covered shares (in shares) 513,100 513,100    
Exercisable, weighted-average exercise price (in dollars per share) $ 1.63 $ 1.63    
Exercisable, weighted average remaining contractual term (Year) 2 years 1 month 24 days      
Exercisable, aggregate intrinsic value $ 68,000 $ 68,000    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value $ 10,000   $ 295,000  
Forfeited or expired, covered shares (in shares) 120,562   87,712  
The 2018 Plan [Member]        
Covered Shares (in shares) 160,000   430,000  
Weighted- Average Exercise Price (in dollars per share) $ 0.93   $ 0.90  
Weighted- Average Remaining Contractual Term (Year) 5 years 9 months 14 days   6 years 9 months 25 days 7 years 10 months 13 days
Aggregate Intrinsic Value $ 52,000 $ 52,000 $ 31,000 $ 8,000
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 0   0  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares) 12,500   230,000  
Exercised/cancelled, weighted-average exercise price (in dollars per share) $ 0.76   $ 0.85  
Exercised/ cancelled, aggregate intrinsic value $ 8,000   $ 235,000  
Forfeited or expired, covered shares (in shares) (2,500)   (40,000)  
Covered Shares (in shares) 145,000 145,000 160,000 430,000
Weighted- Average Exercise Price (in dollars per share) $ 0.94 $ 0.94 $ 0.93 $ 0.90
Exercisable, covered shares (in shares) 135,000 135,000    
Exercisable, weighted-average exercise price (in dollars per share) $ 0.98 $ 0.98    
Exercisable, weighted average remaining contractual term (Year) 5 years 7 months 20 days      
Exercisable, aggregate intrinsic value $ 44,000 $ 44,000    
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) $ 0   $ 0  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value $ 8,000   $ 235,000  
Forfeited or expired, weighted-average exercise price (in dollars per share) $ 0   $ 0  
Forfeited or expired, covered shares (in shares) 2,500   40,000  
The 2020 Plan [Member]        
Covered Shares (in shares) 385,000   0  
Weighted- Average Exercise Price (in dollars per share) $ 1.55   $ 0  
Weighted- Average Remaining Contractual Term (Year)   3 years 1 month 6 days 4 years 1 month 6 days  
Aggregate Intrinsic Value $ 0 $ 0 $ 0 $ 0
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 0   565,000  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period (in shares)     0  
Exercised/ cancelled, aggregate intrinsic value $ 0      
Forfeited or expired, covered shares (in shares) (10,000)   (180,000)  
Covered Shares (in shares) 375,000 375,000 385,000 0
Weighted- Average Exercise Price (in dollars per share) $ 1.55 $ 1.55 $ 1.55 $ 0
Exercisable, covered shares (in shares) 91,250 91,250    
Exercisable, weighted-average exercise price (in dollars per share) $ 1.55 $ 1.55    
Exercisable, weighted average remaining contractual term (Year)   3 years 1 month 6 days    
Exercisable, aggregate intrinsic value $ 0 $ 0    
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share)     $ 1.55  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value $ 0      
Forfeited or expired, weighted-average exercise price (in dollars per share)   $ 0    
Granted, weighted-average remaining contractual term (Year)     4 years 1 month 6 days  
Forfeited or expired, covered shares (in shares) 10,000   180,000  
Granted, weighted-average exercise price (Year)     4 years 1 month 6 days