Note 7 - Income Taxes (Details Textual) - USD ($)	1 Months Ended	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deemed Dividend Paid by Foreign Subsidiary		$ 1,400,000		$ 9,600,000
Withholding Tax on Dividend Distribution, Percent	5.00%	5.00%
Cumulative Tax Incentives		$ 510,000	$ 473,000	435,000
Income Tax Credits and Adjustments		36,000	10,000	45,000
Social Security Tax Payable, Current			656,000	1,300,000
Deferred Social Security Tax Paid	$ 656,000
Deferred Tax Asset, Prior Year Foreign Tax Credit Carryforwards, Write Off				535,000
Reserach and Experimentation Costs Deferred	3,500,000	3,500,000
Deferred Tax Assets, Research and Expenditures	856,000	856,000	0
Deferred Tax Assets, Software Development Costs	52,000	52,000
Unrecognized Tax Benefits, Ending Balance	1,557,000	1,557,000	1,075,000	$ 768,000
Unrecognized Tax Benefits, Interest on Income Taxes Accrued	25,000	25,000	19,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	$ 1,300,000	$ 1,300,000	$ 918,000
Domestic Tax Authority [Member]
Open Tax Year		2019 2020 2021 2022
State and Local Jurisdiction [Member]
Open Tax Year		2016 2017 2018 2019 2020 2021 2022
Foreign Tax Authority [Member] | Canada Revenue Agency [Member]
Open Tax Year		2018 2019 2020 2021 2022
Domestic Research [Member]
Tax Amortization Period (Year)		5 years
Foreign Research [Member]
Tax Amortization Period (Year)		15 years
Canadian Subsidiary [Member]
Capital Returns from Subsidiary		$ 1,200,000