Note 7 - Income Taxes (Details Textual) - USD ($)	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Deemed Dividend Paid by Foreign Subsidiary		$ 1,400,000
Withholding Tax on Dividend Distribution, Percent		5.00%
Cumulative Tax Incentives	$ 200,000	$ 510,000	$ 473,000
Income Tax Credits and Adjustments	2,000	36,000	10,000
Social Security Tax Payable, Current			656,000	$ 1,300,000
Share Repurchase Program, Excise Tax	152,000
Research and Experimentation, Capitalized Costs	7,800,000	7,100,000
Deferred Tax Assets, Research and Expenditures	2,903,000	856,000
Unrecognized Tax Benefits	1,943,000	1,557,000	$ 1,075,000
Unrecognized Tax Benefits, Interest on Income Taxes Accrued	43,000	25,000
Unrecognized Tax Benefits that Would Impact Effective Tax Rate	$ 1,600,000	1,300,000
Foreign Tax Authority [Member] | Canada Revenue Agency [Member]
Open Tax Year	2019 2020 2021 2022 2023
Domestic Tax Authority [Member]
Open Tax Year	2020 2021 2022 2023
State and Local Jurisdiction [Member]
Open Tax Year	2017 2018 2019 2020 2021 2022 2023
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