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Note 6 - Stock-based Compensation (Tables) | 6 Months Ended
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Jun. 30, 2022
Notes Tables |
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block] |
|  | Three-month period ended |  |  | Six-month period ended |
|  | June 30, |  |  | June 30, |  |  | June 30, |  |  | June 30, |
|  | 2022 |  |  | 2021 |  |  | 2022 |  |  | 2021 |
Stock options |  | $ | 181 |  |  | $ | 174 |  |  | $ | 362 |  |  | $ | 337 |
Restricted stock grants |  |  | 3 |  |  |  | 12 |  |  |  | 11 |  |  |  | 33 |
Total |  | $ | 184 |  |  | $ | 186 |  |  | $ | 373 |  |  | $ | 370 |
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
|  | Number of Shares |  |  | Weighted Average Exercise Price |  |  | Weighted Average Remaining Contractual Term (years) |  |  | Aggregate Intrinsic Value |
Outstanding at January 1, 2022 |  |  | 1,306,824 |  |  | $ | 6.87 |  |  |  |  |  |  |  |  |
Granted |  |  | 5,000 |  |  |  | 4.68 |  |  |  |  |  |  |  |  |
Exercised |  |  | (58,750 | ) |  |  | 3.81 |  |  |  |  |  |  |  |  |
Forfeited or expired |  |  | (44,834 | ) |  |  | 6.76 |  |  |  |  |  |  |  |  |
Outstanding at June 30, 2022 |  |  | 1,208,240 |  |  | $ | 7.01 |  |  |  | 4.07 |  |  | $ | 33 |
Vested and expected to vest at June 30, 2022 |  |  | 1,103,948 |  |  | $ | 7.01 |  |  |  | 3.93 |  |  | $ | 33 |
Exercisable at June 30, 2022 |  |  | 717,956 |  |  | $ | 7.06 |  |  |  | 2.93 |  |  | $ | 33 |

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