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Note 5 - Stock-based Compensation (Details Textual) - USD ($)
$ in Thousands
3 Months Ended
Mar. 31, 2023
Mar. 31, 2022
Proceeds from Stock Options Exercised $ 0 $ 113
Share-Based Payment Arrangement, Option [Member]    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount $ 553  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition 1 year 2 months 12 days  
Restricted Stock [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Nonvested, Number 2  
Restricted Stock [Member] | The 2014 Long-term Incentive Plan [Member]    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) 3 years