Note 14 - Income Taxes - Components of Company's Deferred Tax Assets and Liabilities for Federal and State Income Taxes (Details) - USD ($)	Dec. 31, 2023	Dec. 31, 2022
Net operating loss carryforwards	$ 29,233,000	$ 26,465,000
Income tax credit carryforwards	2,676,000	2,738,000
Stock compensation	620,000	421,000
Lease obligation	1,015,000	908,000
Deferred revenue	75,000	251,000
Inventory Reserve	1,003,000	517,000
Sec. 174 Capitalized R&D	488,000	317,000
Other	267,000	159,000
Total deferred tax assets	35,377,000	31,776,000
Depreciation and amortization		(252,000)
Lease asset	(898,000)	(824,000)
Total deferred tax liabilities	(898,000)	(1,076,000)
Valuation allowance	$ (34,479,000)	$ (30,700,000)