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Note 5 - Stock-based Compensation (Tables)
6 Months Ended
Jun. 30, 2023
Notes Tables  
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block]
   

Three-month period ended

   

Six-month period ended

 
   

June 30,

   

June 30,

   

June 30,

   

June 30,

 
   

2023

   

2022

   

2023

   

2022

 

Stock options

  $ 153     $ 181     $ 291     $ 362  

Restricted stock

    1       3       2       11  

Total

  $ 154     $ 184     $ 293     $ 373  
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, 2023

    1,425,693     $ 6.72                  

Granted

    12,500     $ 4.07                  

Exercised

    (44,390 )   $ 4.29                  

Forfeited or expired

    (99,775 )   $ 4.84                  

Outstanding at June 30, 2023

    1,294,028     $ 6.93       3.66     $ 15,640  

Vested and expected to vest at June 30, 2023

    1,188,048     $ 7.01       3.52     $ 13,124  

Exercisable at June 30, 2023

    858,695     $ 7.44       2.45     $ 2,304