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Note 7 - Patents (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jun. 30, 2022
Jun. 30, 2021
Jun. 30, 2022
Jun. 30, 2021
Amortization of Intangible Assets     $ 26,768 $ 22,705
Finite-Lived Intangible Asset, Expected Amortization, Remainder of Fiscal Year $ 27,000   27,000  
Finite-Lived Intangible Asset, Expected Amortization, Year One 52,000   52,000  
Finite-Lived Intangible Asset, Expected Amortization, Year Two 34,000   34,000  
Finite-Lived Intangible Asset, Expected Amortization, Year Three 28,000   28,000  
Finite-Lived Intangible Asset, Expected Amortization, after Year Three 110,000   110,000  
Patents [Member]        
Amortization of Intangible Assets $ 13,000 $ 11,000 $ 27,000 $ 23,000
Patents [Member] | Minimum [Member]        
Finite-Lived Intangible Asset, Useful Life (Year)     3 years  
Patents [Member] | Maximum [Member]        
Finite-Lived Intangible Asset, Useful Life (Year)     20 years