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Note 1 - Summary of Significant Accounting Policies (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended
May 31, 2022
Mar. 31, 2020
Sep. 30, 2022
Sep. 30, 2021
Sep. 30, 2022
Sep. 30, 2021
Dec. 31, 2021
Dec. 31, 2020
May 31, 2017
Dec. 31, 2012
Nov. 30, 2010
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)         90,000            
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price         $ 11.13            
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term         7 years 1 month 6 days            
Share-Based Payment Arrangement, Expense (in shares)     212,643 214,391 202,479 144,892          
Letters of Credit Outstanding, Amount     $ 400   $ 400            
Restricted Cash and Cash Equivalents, Current, Total     792 $ 999 792 $ 999 $ 1,582 [1]        
Accounts Receivable, Allowance for Credit Loss, Current     257   $ 257   328        
Finite-Lived Intangible Assets, Remaining Amortization Period         2 years 1 month 6 days            
Finite-Lived Intangible Assets, Net, Ending Balance     433   $ 433   501 [1] $ 1,173      
Amortization of Intangible Assets     40 45 111 $ 139 $ 176        
Patents Received [Member]                      
Finite-Lived Intangible Assets, Net, Ending Balance     96   96            
Patents In Process [Member]                      
Finite-Lived Intangible Assets, Net, Ending Balance     $ 85   $ 85            
Employee Market Condition Options [Member]                      
Accounts Receivable, Allowance for Credit Loss, Current (in shares)     0                
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)         21,000            
Employee Service-based Options [Member]                      
Accounts Receivable, Allowance for Credit Loss, Current (in shares)     3,000   69,000            
Share-Based Payment Arrangement, Option [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)     3,000   90,000 27,000          
Share-Based Payment Arrangement, Expense     $ 62 $ 28 $ 168 $ 74          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total     $ 810   $ 810            
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition         3 years 10 months 9 days            
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount     34,211 0 44,070 221          
Stock Appreciation Rights (SARs) [Member]                      
Accounts Receivable, Allowance for Credit Loss, Current (in shares)         0 0          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number, Ending Balance     0   0         100,000  
Equity Appreciation Right Units [Member]                      
Share-Based Payment Arrangement, Expense       $ 13   $ 127          
Stock Incentive Plan 2017 [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized                 350,000    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) 175,000 50,000                  
Stock Incentive Plan 2017 [Member] | Restricted Stock Units (RSUs) [Member]                      
Share-Based Payment Arrangement, Expense       $ 0   $ 0          
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total     $ 186   $ 186            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period         1 year 5 months 26 days            
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price         $ 12.00            
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term         9 years 5 months 23 days            
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value         $ 0            
Stock Incentive Plan 2017 [Member] | Restricted Stock Units (RSUs) [Member] | Non-employee Directors [Member]                      
Accounts Receivable, Allowance for Credit Loss, Current (in shares)     0   21,000            
Share-Based Payment Arrangement, Expense     $ 31   $ 66            
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period         2 years            
Equity Appreciation Rights Plan 2010 [Member] | Stock Appreciation Rights (SARs) [Member]                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized                     1,000,000
[1] The condensed consolidated balance sheet at December 31, 2021 has been derived from the audited financial statements at that date