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Note 14 - Stock-based Compensation (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020
Share-based Compensation, Tax Charges to Additional Paid in Capital From Exercise and Vesting | $ 0 | $ 0 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Amortization Period (Year) | 1 year 1 month 6 days |  |
Restricted Stock [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 105,360 | 49,988 | 61,373
Share-Based Payment Arrangement, Expensed and Capitalized, Amount, Total | $ 4,900 | $ 1,700 | $ 600
Share-Based Payment Arrangement, Expense | 2,600 | 1,200 | 800
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | $ 3,300 |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 2 years 9 months 18 days |  |
Restricted Stock [Member] | Minimum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Month) | 12 months |  |
Restricted Stock [Member] | Maximum [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Month) | 60 months |  |
Share-Based Payment Arrangement, Option [Member] |  |  |
Share-Based Payment Arrangement, Expense | $ 1,600 | 2,000 | 500
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 10 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Fair Value |  | 3,100 | $ 1,400
Share-Based Compensation Arrangement by Share-Based Payment Award, Shares Issued in Period (in shares) | 0 |  |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount | $ 800 | $ 2,400 |
Employee Stock Purchase Plan [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) | 51,041 |  |
The Fourth Amended 2014 Plan [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) | 2,085,158 |  |

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- Definition The grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References No definition available. + Details
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- Definition Weighted average remaining amortization period for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References No definition available. + Details
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