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Note 6 - Stock-based Compensation (Tables) | 9 Months Ended
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Sep. 30, 2022
Notes Tables |
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block] |
|  | Three-month period ended |  |  | Nine-month period ended |
|  | September 30, |  |  | September 30, |  |  | September 30, |  |  | September 30, |
|  | 2022 |  |  | 2021 |  |  | 2022 |  |  | 2021 |
Stock options |  | $ | 176 |  |  | $ | 131 |  |  | $ | 538 |  |  | $ | 468 |
Restricted stock grants |  |  | 3 |  |  |  | 11 |  |  |  | 14 |  |  |  | 44 |
Total |  | $ | 179 |  |  | $ | 142 |  |  | $ | 552 |  |  | $ | 512 |
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 |  |  | 11,500 |  |  |  | 4.49 |  |  |  |  |  |  |  |  |
Exercised |  |  | (59,500 | ) |  |  | 3.82 |  |  |  |  |  |  |  |  |
Forfeited or expired |  |  | (56,748 | ) |  |  | 6.63 |  |  |  |  |  |  |  |  |
Outstanding at September 30, 2022 |  |  | 1,202,076 |  |  | $ | 7.01 |  |  |  | 3.81 |  |  | $ | 70 |
Vested and expected to vest at September 30, 2022 |  |  | 1,119,892 |  |  | $ | 7.04 |  |  |  | 3.67 |  |  | $ | 70 |
Exercisable at September 30, 2022 |  |  | 803,774 |  |  | $ | 7.22 |  |  |  | 2.82 |  |  | $ | 67 |

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