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Note 14 - Stock-based Compensation (Details Textual) - USD ($) $ in Thousands |  | 12 Months Ended
--- | --- | ---
Jan. 01, 2022 | Dec. 31, 2023 | Dec. 31, 2022
Share-based Compensation, Tax Charges to Additional Paid in Capital From Exercise and Vesting |  | $ 0 | $ 0
Restricted Stock [Member] |  |  |
Stock Issued During Period, Shares, Restricted Stock Award, Net of Forfeitures (in shares) |  | 148,546 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  | 105,360
Share-Based Payment Arrangement, Expensed and Capitalized, Amount |  | $ 3,700 | $ 4,900
Share-Based Payment Arrangement, Expense |  | 3,100 | 2,600
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount |  | $ 3,900 |
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 |  | $ 700 | 1,600
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  | 6 months |
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 |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  | $ 100 | $ 800
Employee Stock Purchase Plan [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  | 500,000 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 47,111 |
The Fourth Amended 2014 Plan [Member] |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  | 5,750,000 |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) |  | 2,134,266 |

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