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Note 6 - Share-based Compensation - Options Range of Exercise Prices (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Lower range limit (in dollars per share) $ 4.29  
Upper range limit (in dollars per share) $ 9.96  
Options outstanding, number of outstanding options (in shares) 1,425,693  
Options outstanding, weighted-average remaining contractual life (Year) 4 years 1 month 28 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 6.72  
Options exercisable, number of options exercisable (in shares) 881,804  
Options exercisable – weighted average exercise price (in dollars per share) $ 7.13 $ 6.85
Range One [Member]    
Lower range limit (in dollars per share) 4.29  
Upper range limit (in dollars per share) $ 5.45  
Options outstanding, number of outstanding options (in shares) 516,949  
Options outstanding, weighted-average remaining contractual life (Year) 4 years 7 months 24 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 5.10  
Options exercisable, number of options exercisable (in shares) 197,001  
Options exercisable – weighted average exercise price (in dollars per share) $ 4.64  
Range Two [Member]    
Lower range limit (in dollars per share) 5.71  
Upper range limit (in dollars per share) $ 6.51  
Options outstanding, number of outstanding options (in shares) 302,244  
Options outstanding, weighted-average remaining contractual life (Year) 3 years 6 months 10 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 6.29  
Options exercisable, number of options exercisable (in shares) 224,937  
Options exercisable – weighted average exercise price (in dollars per share) $ 6.22  
Range Three [Member]    
Lower range limit (in dollars per share) 6.69  
Upper range limit (in dollars per share) $ 6.97  
Options outstanding, number of outstanding options (in shares) 177,667  
Options outstanding, weighted-average remaining contractual life (Year) 5 years 9 months 3 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 6.96  
Options exercisable, number of options exercisable (in shares) 65,362  
Options exercisable – weighted average exercise price (in dollars per share) $ 6.96  
Range Four [Member]    
Lower range limit (in dollars per share) 8.25  
Upper range limit (in dollars per share) $ 9.96  
Options outstanding, number of outstanding options (in shares) 428,833  
Options outstanding, weighted-average remaining contractual life (Year) 3 years 4 months 2 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 8.88  
Options exercisable, number of options exercisable (in shares) 394,504  
Options exercisable – weighted average exercise price (in dollars per share) $ 8.92