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Note 12 - Stock-based Compensation (Details Textual) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Dec. 31, 2022
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) 10 months 24 days    
Restricted Stock [Member]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) 146,227 106,498  
Share-Based Payment Arrangement, Expensed and Capitalized, Amount $ 3,600 $ 5,000  
Share-Based Payment Arrangement, Expense 700 600  
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount $ 6,300    
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 $ 200 500  
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) 10 years    
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   $ 600 $ 800
Employee Stock Purchase Plan [Member]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 49,608    
The Fourth Amended 2014 Plan [Member]      
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 1,928,801