Note 14 - Stockholders' Equity - Stock Options Outstanding (Details)	12 Months Ended
	Dec. 31, 2022 $ / shares shares
Options outstanding (in shares)	994,267
Options outstanding, weighted average remaining contractual life (Year)	4 months 24 days
Options exercisable (in shares)	994,267
Options exercisable, weighted average remaining contractual life (Year)	4 months 24 days
Exercise Price 1 [Member]
Lower limit range (in dollars per share) | $ / shares	$ 1.60
Upper limit range (in dollars per share) | $ / shares	$ 2.79
Options outstanding (in shares)	106,361
Options outstanding, weighted average remaining contractual life (Year)	10 months 9 days
Options exercisable (in shares)	106,361
Options exercisable, weighted average remaining contractual life (Year)	10 months 9 days
Exercise Price 2 [Member]
Lower limit range (in dollars per share) | $ / shares	$ 2.80
Upper limit range (in dollars per share) | $ / shares	$ 4.50
Options outstanding (in shares)	450,882
Options outstanding, weighted average remaining contractual life (Year)	3 months 29 days
Options exercisable (in shares)	450,882
Options exercisable, weighted average remaining contractual life (Year)	3 months 29 days
Exercise Price 3 [Member]
Lower limit range (in dollars per share) | $ / shares	$ 4.51
Upper limit range (in dollars per share) | $ / shares	$ 7.50
Options outstanding (in shares)	420,000
Options outstanding, weighted average remaining contractual life (Year)	3 months 29 days
Options exercisable (in shares)	420,000
Options exercisable, weighted average remaining contractual life (Year)	3 months 29 days
Exercise Price 4 [Member]
Lower limit range (in dollars per share) | $ / shares	$ 7.51
Upper limit range (in dollars per share) | $ / shares	$ 12.55
Options outstanding (in shares)	8,690
Options outstanding, weighted average remaining contractual life (Year)	5 months 12 days
Options exercisable (in shares)	8,690
Options exercisable, weighted average remaining contractual life (Year)	5 months 12 days
Exercise Price 5 [Member]
Lower limit range (in dollars per share) | $ / shares	$ 12.56
Upper limit range (in dollars per share) | $ / shares	$ 24.81
Options outstanding (in shares)	8,334
Options outstanding, weighted average remaining contractual life (Year)	10 months 2 days
Options exercisable (in shares)	8,334
Options exercisable, weighted average remaining contractual life (Year)	10 months 2 days