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Note 3 - Stock-based Compensation and Shareholders' Equity (Details Textual) - USD ($)
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
Dec. 31, 2021
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Allocated share-based compensation expense $ 20,000 $ 22,000    
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized $ 236,000      
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized, period for recognition 59 months      
Share-based compensation arrangement by share-based payment award, options, grants in period, gross 35,000 29,350    
Share-based compensation arrangement by share-based payment award, options, forfeitures in period 22,600 21,250    
Share-based compensation arrangement by share-based payment award, options, outstanding, number 121,550 122,050 109,150 113,950
Share-based compensation arrangement by share-based payment award, options, grants in period, weighted average grant date fair value $ 4.11 $ 5.20    
The 2015 Plan [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation arrangement by share-based payment award, number of shares authorized 300,000      
Share-based compensation arrangement by share-based payment award, options, grants in period, gross 212,550      
Share-based compensation arrangement by share-based payment award, options, forfeitures in period 120,875      
Share-based compensation arrangement by share-based payment award, options, exercises in period 20,825      
Share-based compensation arrangement by share-based payment award, options, outstanding, number 121,550      
Employee Stock Option [Member] | The 2015 Plan [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation arrangement by share-based payment award, period options can be exercised after grant date 6 months      
Share-based compensation arrangement by share-based payment award, expiration period 5 years      
Share-based compensation arrangement by share-based payment award, award vesting period 3 years      
Employee Stock Option [Member] | The 2015 Plan [Member] | First Anniversary [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation arrangement by share-based payment award, award vesting rights, percentage 20.00%      
Employee Stock Option [Member] | The 2015 Plan [Member] | Maximum [Member]        
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]        
Share-based compensation arrangement by share-based payment award, expiration period 10 years