Note 11 - Income Taxes (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount	$ (1,727,000)	$ (884,000)
Deferred Tax Assets, Valuation Allowance, Percent	100.00%	100.00%
Open Tax Year	2019 2020 2021 2022
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	$ 707,738
Research Tax Credit Carryforward [Member]
Effective Income Tax Rate Reconciliation, GILTI, Amount	900,000
Domestic Tax Authority [Member]
Operating Loss Carryforwards, Total		$ 32,917,000
Operating Loss Carryforwards, Not Subject to Expiration		902,000
Operating Loss Carryforwards, Subject to Expiration		32,015,000
State and Local Jurisdiction [Member]
Operating Loss Carryforwards, Total		9,229,000
Foreign Tax Authority [Member]
Operating Loss Carryforwards, Total		1,670,000
Unrecognized Tax Benefits, Income Tax Penalties and Interest Accrued, Total	$ 16,064	$ 70,060