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Note 15 - Stock Option Plans (Details Textual) - USD ($) $ in Thousands |  |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | ---
Nov. 09, 2022 | Oct. 08, 2010 | Nov. 30, 2020 | Sep. 30, 2015 | Dec. 31, 2022 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2019 | Nov. 22, 2006
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  |  |  | $ 800 | $ 6,400 | $ 3,700 |  |
Proceeds from Stock Options Exercised |  |  |  |  | $ 1,096 | $ 4,818 | 985 |  |
Common Stock, Shares, Outstanding, Ending Balance (in shares) |  |  |  |  | 10,817,110 | 10,747,417 |  |  |
Share-Based Payment Arrangement, Expense |  |  |  |  | $ 5,779 | $ 4,592 | 3,718 |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  |  | $ 8,200 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  | 2 years 7 months 6 days |  |  |  |
Share-Based Payment Arrangement, Expense |  |  |  |  | $ 5,800 | $ 4,600 | 3,700 |  |
Equity Compensation Plan 2006 [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) |  | 1,725,000 | 4,000,000.0 | 2,475,000 |  |  |  |  | 1,250,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) |  | 475,000 | 1,530,000 | 750,000 |  |  |  |  |
Equity Compensation Plan 2006 [Member] | Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  | 4 years |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  |  |  | 7 years |  |  |
Equity Compensation Plan 2006 [Member] | Automatic Formula Grants of Nonqualified Stock Options [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  | 1 year |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) |  |  |  |  |  | 5 years |  |  |
The 2022 Wavelo Equity Compensation Plan [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 3 years |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 7 years |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  | 2 years 10 months 24 days |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | 20,000,000 |  |  |  |  |  |  |  |
Common Stock, Shares, Outstanding, Ending Balance (in shares) | 100,000,000 |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  |  |  |  | $ 5,900 |  |  |  |
Share-Based Payment Arrangement, Expense |  |  |  |  |  | $ 1,820 | $ 0 | $ 0 |
The 2022 Wavelo Equity Compensation Plan [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage | 25.00% |  |  |  |  |  |  |  |

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