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Note 12 - Stock-based Compensation - Stock Options Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Dec. 31, 2021
Balance, options (in shares) 6,067,313 6,864,563 6,864,563  
Balance, options, exercise price (in dollars per share) $ 1.83 $ 2.05 $ 2.05  
Balance, options, contractual term (Year) 1 year 9 months 10 days   2 years 25 days 2 years 4 months 9 days
Granted, options (in shares) 0 0 0  
Granted, options, exercise (in dollars per share)     $ 0  
Forfeited, options (in shares) (425,178)   (574,299)  
Forfeited, options, exercise price (in dollars per share) $ 3.98   $ 4.56  
Exercised, options (in shares) (186,307)   (102,825)  
Exercised, options, exercise price (in dollars per share) $ 1.13   $ 1.12  
Expired, options (in shares) (177,430)   (120,126)  
Expired, options, exercise price (in dollars per share) $ 2.27   $ 2.6  
Outstanding, options (in shares) 5,278,398   6,067,313 6,864,563
Outstanding, options, exercise price (in dollars per share) $ 1.61   $ 1.83 $ 2.05
Outstanding, options, intrinsic value $ 1,041   $ 10,818  
Exercisable, options (in shares) 4,594,898   4,449,152  
Exercisable, options, exercise price (in dollars per share) $ 1.4   $ 1.31  
Exercisable, options, contractual term (Year) 1 year 8 months 15 days   1 year 11 months 1 day  
Exercisable, options, intrinsic value $ 1,000   $ 8,832