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Note 5 - Stock-based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2023
USD ($)
$ / shares
shares
Outstanding, shares (in shares) | shares 1,425,693
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 6.72
Granted, shares (in shares) | shares 12,500
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 4.07
Exercised, shares (in shares) | shares 0
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 0
Forfeited or expired, shares (in shares) | shares (17,582)
Forfeited or expired, weighted average exercise price (in dollars per share) | $ / shares $ 7.57
Outstanding, shares (in shares) | shares 1,420,611
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 6.69
Outstanding, weighted average remaining contractual term (Year) 3 years 6 months 29 days
Outstanding, aggregate intrinsic value | $ $ 0
Vested and expected to vest, shares (in shares) | shares 1,295,019
Vested and expected, weighted average exercise price (in dollars per share) | $ / shares $ 6.75
Vested and expected to vest, weighted average remaining contractual term (Year) 3 years 4 months 24 days
Vested and expected to vest, aggregate intrinsic value | $ $ 0
Exercisable, shares (in shares) | shares 911,553
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 7.09
Exercisable, weighted average remaining contractual term (Year) 2 years 3 months 14 days
Exercisable, aggregate intrinsic value | $ $ 0