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Note 15 - Stock-based Compensation and Other Benefit Plans - Stock-based Compensation (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Total stock-based compensation | $ 605 | $ 842 | $ 1,254 | $ 2,264
Equity Awards [Member] |  |  |  |
Total stock-based compensation | 706 | 615 | 1,381 | 1,019
Liability Awards [Member] |  |  |  |
Total stock-based compensation | $ (101) | $ 227 | $ (127) | $ 1,245

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