Note 4 - Stock-based Compensation (Details Textual) - USD ($) | 3 Months Ended | 6 Months Ended | 9 Months Ended |
Jun. 30, 2019 | Jun. 30, 2018 | Jun. 30, 2019 | Dec. 31, 2018 | Jun. 30, 2019 | Jun. 30, 2018 |
Share-based Payment Arrangement, Expense | $ 433,438 | $ 519,223 | | | $ 1,535,628 | $ 1,488,304 |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | 2,553,214 | | $ 2,553,214 | | $ 2,553,214 | |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition | | | | | 5 years 73 days | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross | | | | | 172,000 | 72,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period | | | | | 4 years | 5 years |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 3 years | 3 years |
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price | | | | | $ 12.17 | $ 13.35 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value | | | | | $ 3.53 | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term | | | | | 1 year 51 days | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value | $ 253,413 | | $ 253,413 | | $ 253,413 | |
Proceeds from Stock Options Exercised | | | | | $ 24 | $ 21,174 |
Employee Stock Purchase Plan [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Market Price Percentage, Offering Date | | | | | 85.00% | |
Stock Issued During Period, Shares, Employee Stock Purchase Plans | | | 19,923 | 17,312 | | |
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price | | | $ 8.43 | $ 8.43 | | |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant | 49,846 | | 49,846 | | 49,846 | |
Share-based Payment Arrangement, Option [Member] | Director [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period | | | | | 6 years | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 1 year | |
Share-based Payment Arrangement, Option [Member] | Minimum [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 3 years | |
Share-based Payment Arrangement, Option [Member] | Maximum [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 5 years | |
Restricted Stock [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | | | | | 4,340 | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | | | | | $ 14.40 | |
Restricted Stock [Member] | Employees [Member] | Stock Compensation Plan 2007 [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | | 1 year |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | | | | | | 3,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | | | | | | $ 13.35 |
Restricted Stock [Member] | Non Employee Directors [Member] | Stock Compensation Plan 2007 [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 1 year | 1 year |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period | | | | | 4,340 | 3,795 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value | | | | | $ 14.40 | $ 16.45 |
Restricted Stock [Member] | Minimum [Member] | Employees [Member] | Stock Compensation Plan 2007 [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 1 year | |
Restricted Stock [Member] | Maximum [Member] | Employees [Member] | Stock Compensation Plan 2007 [Member] | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period | | | | | 10 years | |
Selling, General and Administrative Expenses [Member] | | | | | | |
Share-based Payment Arrangement, Expense | $ 410,784 | 477,193 | | | $ 1,450,493 | $ 1,362,213 |
Cost of Sales [Member] | | | | | | |
Share-based Payment Arrangement, Expense | $ 22,654 | $ 42,030 | | | $ 85,139 | $ 126,091 |