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Note 7 - Stock Plans - Stock-based Compensation Expense (Details) - USD ($) $ in Thousands | 3 Months Ended | 6 Months Ended
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Jun. 30, 2023 | Jun. 30, 2022 | Jun. 30, 2023 | Jun. 30, 2022
Stock-based compensation expense | $ 518 | $ 413 | $ 963 | $ 719
The 2012 Director Stock Incentive Plan [Member] |  |  |  |
Stock-based compensation expense | 173 | 263 | 287 | 372
The 2012 Omnibus Stock Incentive Plan [Member] |  |  |  |
Stock-based compensation expense | 118 | 150 | 259 | 315
The 2022 Omnibus Stock Incentive Plan [Member] |  |  |  |
Stock-based compensation expense | 227 | 0 | 383 | 0
The 2002 Employee Stock Purchase Plan [Member] |  |  |  |
Stock-based compensation expense | $ 0 | $ 0 | $ 34 | $ 32

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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