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Note 5 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2023
Outstanding, shares (in shares) 1,425,693
Outstanding, weighted average exercise price (in dollars per share) $ 6.72
Granted, shares (in shares) 12,500
Granted, weighted average exercise price (in dollars per share) $ 4.07
Exercised, shares (in shares) (44,390)
Exercised, weighted average exercise price (in dollars per share) $ 4.29
Forfeited or expired, shares (in shares) (99,775)
Forfeited or expired, weighted average exercise price (in dollars per share) $ 4.84
Outstanding, shares (in shares) 1,294,028
Outstanding, weighted average exercise price (in dollars per share) $ 6.93
Outstanding, weighted average remaining contractual term (Year) 3 years 7 months 28 days
Outstanding, aggregate intrinsic value $ 15,640
Vested and expected to vest, shares (in shares) 1,188,048
Vested and expected, weighted average exercise price (in dollars per share) $ 7.01
Vested and expected to vest, weighted average remaining contractual term (Year) 3 years 6 months 7 days
Vested and expected to vest, aggregate intrinsic value $ 13,124
Exercisable, shares (in shares) 858,695
Exercisable, weighted average exercise price (in dollars per share) $ 7.44
Exercisable, weighted average remaining contractual term (Year) 2 years 5 months 12 days
Exercisable, aggregate intrinsic value $ 2,304