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Note 7 - Stock-based Compensation (Details Textual) - USD ($)
3 Months Ended 9 Months Ended
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
May 31, 2022
Dec. 31, 2021
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 117,200   117,200 0    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total $ 43,000   $ 43,000      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     10 months 24 days      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested in Period, Fair Value     $ 101,000 $ 107,000    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value     830,000 686,000    
Share-Based Payment Arrangement, Expense 36,000 $ 58,000 153,000 176,000    
Share-Based Payment Arrangement, Expense, Tax Benefit $ 2,000 $ 4,000 10,000 12,000    
Proceeds from Stock Options Exercised     277,000 216,000    
Share-Based Payment Arrangement, Exercise of Option, Tax Benefit     $ 55,000 $ 19,000    
Restricted Stock [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) 1,650          
Restricted Stock, Par or Stated Value Per Share (in dollars per share) $ 31   $ 31      
Compensation Expense, Excluding Cost of Good and Service Sold $ 9,000          
Stock Option Plan 2013 [Member]            
Common Stock, Capital Shares Reserved for Future Issuance (in shares)           191,417
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)         126,550  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total 157,000   $ 157,000      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     1 year 1 month 6 days      
Stock Option Plan 2013 [Member] | Share-Based Payment Arrangement, Option [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)     10 years      
The 2022 Equity Incentive Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)         576,550  
Stock Option Plan 2022 [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)     117,200      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total $ 1,000,000   $ 1,000,000      
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     4 years 8 months 12 days