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Note 10 - Share-based Compensation (Details Textual)
$ / shares in Units, $ in Thousands
1 Months Ended 3 Months Ended 9 Months Ended 12 Months Ended 24 Months Ended
Jan. 01, 2001
shares
Dec. 31, 2022
shares
Sep. 30, 2023
USD ($)
shares
Oct. 01, 2022
USD ($)
Sep. 30, 2023
USD ($)
$ / shares
shares
Oct. 01, 2022
USD ($)
$ / shares
shares
Dec. 31, 2022
shares
Jan. 02, 2021
shares
Dec. 29, 2018
shares
Dec. 31, 2016
shares
Dec. 27, 2015
shares
Dec. 31, 2022
shares
Sep. 29, 2023
$ / shares
Jan. 01, 2022
shares
Dec. 31, 2014
shares
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)         10 years                    
Share-Based Payment Arrangement, Expense | $     $ 483 $ 425 $ 1,450 $ 1,130                  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $     $ 3,400   $ 3,400                    
Common Stock, Capital Shares Reserved for Future Issuance (in shares)   1,754,852 1,389,820   1,389,820   1,754,852         1,754,852      
Dividends Payable | $     $ 0   $ 0                    
Share Price (in dollars per share) | $ / shares                         $ 19.54    
Employee Stock Purchase Plan [Member]                              
Share-Based Payment Arrangement, Expense | $         $ 244 $ 180                  
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Offering Date 85.00%                            
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate 10.00%                            
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee (in shares) 3,000                            
Additional Shares of Common Stock Reserved for Future Issuance (in shares)                 300,000   300,000 400,000      
Common Stock, Capital Shares Reserved for Future Issuance (in shares)                 1,400,000   1,100,000     1,800,000  
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares)         33,430                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)     297,730   297,730                    
The 2014 Plan [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares)     608,129   608,129                    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares)     2,975,000   2,975,000                   625,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares)             1,000,000 850,000   500,000          
Time-based Restricted Stock Units [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $     $ 3,200   $ 3,200                    
Time-based Restricted Stock Units [Member] | The 2014 Plan [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number (in shares)   274,939 383,961   383,961   274,939         274,939      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)         288,893                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares         $ 13                    
Performance-based Restricted Stock Units [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $     $ 200   $ 200                    
Performance-based Restricted Stock Units [Member] | Immediately Vested [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)         4,762 1,000                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares         $ 10.5 $ 18.48                  
Performance-based Restricted Stock Units [Member] | The 2014 Plan [Member]                              
Share-Based Payment Arrangement, Expense | $     $ 100 $ 200 $ 400 $ 600                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number (in shares)   225,000 100,000   100,000   225,000         225,000      
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted (in shares)   100,000                          
Share Based Compensation Arrangement By Share Based Payment Award Equity Instruments Other Than Options, Maximum Shares Upon Adjustment (in shares)   125,000         125,000         125,000      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)         0                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares         $ 0                    
Performance-based Restricted Stock Units [Member] | The 2014 Plan [Member] | Chief Executive Officer [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $     $ 3,200   $ 3,200                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Nonvested | $     $ 4,700   $ 4,700                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Number of Outstanding Grant     1   1                    
Minimum [Member]                              
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)         1 year                    
Maximum [Member]                              
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)         5 years