Note 6 - Intangible Assets - Summary of Intangible Assets (Details) - USD ($)	Dec. 31, 2021	Dec. 31, 2020
Finite-lived intangible assets, gross	$ 665,976	$ 887,853
Finite-lived intangible assets, accumulated amortization	483,138	599,196
Intangible assets, net	182,838	288,657
Patents, Copyrights and Intellectual Property [Member]
Finite-lived intangible assets, gross	601,769	792,821
Finite-lived intangible assets, accumulated amortization	421,583	515,665
Intangible assets, net	180,186	277,156
Licensing Agreements [Member]
Finite-lived intangible assets, gross	10,000	10,000
Finite-lived intangible assets, accumulated amortization	10,000	10,000
Intangible assets, net	0	0
Certifications [Member]
Finite-lived intangible assets, gross	54,207	85,032
Finite-lived intangible assets, accumulated amortization	51,555	73,531
Intangible assets, net	$ 2,652	$ 11,501