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Note 17 - Stock-based Compensation and Other Benefit Plans - Stock-based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended
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Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2021
Total stock-based compensation | $ 3,323 | $ 2,200 | $ 2,459
Equity Awards [Member] |  |  |
Total stock-based compensation | 3,338 | 2,045 | 1,060
Liability Awards [Member] |  |  |
Total stock-based compensation | $ (15) | $ 155 | $ 1,399

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