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Note 1 - Organization and Significant Accounting Policies - Calculation of Basic and Diluted Net Income Per Share (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Numerator:      
Net income (loss) $ (23,183) $ 396 $ (2,379)
Denominator (in thousands):      
Basic weighted-average common stock outstanding (in shares) 23,172 22,819 22,107
Effect of stock-based awards (in shares) 0 432 0
Diluted weighted-average common stock outstanding (in shares) 23,172 23,251 22,107
Basic net income (loss) per share (in dollars per share) $ (1.00) $ 0.02 $ (0.11)
Diluted net income (loss) per share (in dollars per share) $ (1.00) $ 0.02 $ (0.11)