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Note 12 - Stock-based Compensation (Details Textual) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended | 9 Months Ended |
--- | --- | --- | --- | ---
Sep. 30, 2023 | Sep. 30, 2022 | Jun. 30, 2023 | Sep. 30, 2023 | Sep. 30, 2022 | Dec. 31, 2022
Share-based Compensation, Tax Charges to Additional Paid in Capital From Exercise and Vesting | $ 0 | $ 0 |  | $ 0 | $ 0 |
Restricted Stock [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  | 145,167 | 103,957 |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount |  |  |  | $ 3,600 | $ 4,900 |
Share-Based Payment Arrangement, Expense |  |  |  | 2,300 | 1,900 |
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount | 4,600 |  |  | $ 4,600 |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 2 years 7 months 6 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 | $ 100 | $ 300 |  | $ 600 | $ 1,300 |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 8 months 12 days |  |
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 | 0 |  | 0 | 0 |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount | $ 200 |  |  | $ 200 |  | $ 800
Employee Stock Purchase Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) | 47,896 |  |  | 47,896 |  |
The Fourth Amended 2014 Plan [Member] |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) | 2,117,211 |  |  | 2,117,211 |  |

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