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Note 6 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Shares under option, beginning of period (in shares) 1,306,824 1,217,163
Options outstanding - weighted average exercise price (in dollars per share) $ 6.87 $ 6.50
Options granted (in shares) 289,950 340,500
Options granted (in dollars per share) $ 5.42 $ 6.78
Options exercised (in shares) (59,500) (204,429)
Options exercised (in dollars per share) $ 3.82 $ 4.39
Options forfeited or expired (in shares) (111,581) (46,410)
Options forfeited or expired (in dollars per share) $ 6.56 $ 7.44
Shares under option, end of period (in shares) 1,425,693 1,306,824
Options outstanding - weighted average exercise price (in dollars per share) $ 6.72 $ 6.87
Options outstanding - weighted average remaining contractual term (Year) 4 years 1 month 24 days  
Options exercisable – aggregate intrinsic value (in shares) 881,804 745,288
Options outstanding - aggregate intrinsic value $ 0  
Options exercisable – weighted average exercise price (in dollars per share) $ 7.13 $ 6.85
Vested and Expected to Vest (in shares) 1,300,732  
Options vested and expected to vest - weighted average exercise price (in dollars per share) $ 6.78  
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 11 months 19 days  
Options vested and expected to vest - aggregate intrinsic value $ 0  
Options exercisable – weighted average remaining contractual term (Year) 2 years 11 months 15 days  
Options exercisable - aggregate intrinsic value $ 0