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Note 12 - Stock-based Compensation - Stock Options Activity 1 (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended 12 Months Ended
Sep. 30, 2023
Dec. 31, 2022
Dec. 31, 2021
Balance, options (in shares) 6,067,313 6,864,563  
Balance, options, exercise price (in dollars per share) $ 1.83 $ 2.05  
Balance, options, contractual term (Year) 1 year 9 months 10 days 2 years 25 days 2 years 4 months 9 days
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