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Consolidated Balance Sheets (Parentheticals) - USD ($)
$ in Thousands
Dec. 31, 2021
Dec. 31, 2020
Allowance for doubtful accounts $ 288 $ 300
Preferred stock, par value (in dollars per share) $ 0.001 $ 0.001
Preferred stock, shares authorized (in shares) 5,000,000 5,000,000
Preferred stock, shares issued (in shares) 0 0
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.001 $ 0.001
Common stock, shares authorized (in shares) 45,000,000 45,000,000
Common stock, shares issued (in shares) 23,595,160 23,595,160
Common stock, shares outstanding (in shares) 22,984,552 22,260,917
Treasury stock, shares (in shares) 610,608 1,334,243