Note 1 - Summary of Significant Accounting Policies (Details Textual) - USD ($) shares in Thousands, $ in Thousands	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Cash Equivalents, at Carrying Value, Total	$ 0	$ 0
Treasury Stock, Shares, Acquired (in shares)	0	0	0
Research and Development Expense, Total	$ 9,300	$ 8,500	$ 8,200
Increase (Decrease) in Accrued Liabilities, Total	10,446	$ 1,009	$ (537)
Revision of Prior Period, Reclassification, Adjustment [Member]
Increase (Decrease) in Accrued Liabilities, Total	(4,100)
Increase (Decrease) in Other Noncurrent Liabilities	$ (4,100)
Minimum [Member]
Finite-Lived Intangible Asset, Useful Life (Year)	5 years
Maximum [Member]
Finite-Lived Intangible Asset, Useful Life (Year)	20 years

Amount of short-term, highly liquid investments that are both readily convertible to known amounts of cash and so near their maturity that they present insignificant risk of changes in value because of changes in interest rates. Excludes cash and cash equivalents within disposal group and discontinued operation.

Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
-Paragraph 1
-Subparagraph (SX 210.5-02(1))
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Useful life of finite-lived intangible assets, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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The increase (decrease) during the reporting period in the aggregate amount of expenses incurred but not yet paid.

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-Publisher FASB
-Name Accounting Standards Codification
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-SubTopic 10
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-Paragraph 28
-Subparagraph (a)
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Amount of increase (decrease) in noncurrent operating liabilities classified as other.

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The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use.

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Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef
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-Name Accounting Standards Codification
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-SubTopic 730
-Section 25
-Paragraph 1
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Number of shares that have been repurchased during the period and are being held in treasury.

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-Name Accounting Standards Codification
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