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Note 16 - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended |  |
--- | --- | --- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Jan. 01, 2023 | Jul. 01, 2022
Expected life | 10 years |  |  |  |
Minimum |  |  |  |  |
Vesting period | 3 years |  |  |  |
Maximum |  |  |  |  |
Vesting period | 7 years |  |  |  |
2010 Equity Incentive Plan |  |  |  |  |
Shares of common stock authorized | 350,000 |  |  |  |
The 2013 Equity Incentive Plan |  |  |  |  |
Shares of common stock authorized | 350,000 |  |  |  |
The 2016 Equity Incentive Plan |  |  |  |  |
Shares of common stock authorized | 400,000 |  |  |  |
Remaining shares of common stock available for grant | 100,271 |  |  |  |
Employee Stock Purchase Plan |  |  |  |  |
Maximum amount any one participant can elect in an offering period | $ 21,250 |  |  |  |
Maximum amount any one participant can contribute (as a percent) | 15.00% | 15.00% | 15.00% |  |
Stock purchase price percent | 85.00% |  |  |  |
Purchase Plan 2022 |  |  |  |  |
Remaining shares of common stock available for grant |  |  |  | 382,765 | 350,000

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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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