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Note 2 - Summary of Significant Accounting Policies (Details Textual)
$ in Thousands
12 Months Ended
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Dec. 31, 2020
USD ($)
Finite-Lived Intangible Asset, Useful Life (Year) 12 years    
Impairment, Long-Lived Asset, Held-for-Use, Total $ 0    
Goodwill, Impairment Loss 0    
Liability for Uncertainty in Income Taxes, Noncurrent $ 0 $ 0  
Number of Operating Segments 1    
Geographic Concentration Risk [Member] | Assets, Total [Member] | UNITED STATES      
Concentration Risk, Percentage 100.00% 100.00%  
General and Administrative Expense [Member]      
Patent Costs $ 500 $ 600 $ 500
Minimum [Member] | Equipment [Member]      
Property, Plant and Equipment, Useful Life (Year) 3 years    
Maximum [Member] | Equipment [Member]      
Property, Plant and Equipment, Useful Life (Year) 5 years