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Note 5 - Stock-based Compensation (Tables) | 9 Months Ended
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Sep. 30, 2023
Notes Tables |
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block] |
|  | Three-month period ended |  |  | Nine-month period ended |
|  | September 30, 2023 |  |  | September 30, 2022 |  |  | September 30, 2023 |  |  | September 30, 2022 |
Stock options |  | $ | 130 |  |  | $ | 176 |  |  | $ | 421 |  |  | $ | 538 |
Restricted stock |  |  | 1 |  |  |  | 3 |  |  |  | 3 |  |  |  | 14 |
Total |  | $ | 131 |  |  | $ | 179 |  |  | $ | 424 |  |  | $ | 552 |
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 |  |  | (204,891 | ) |  | $ | 5.71 |  |  |  |  |  |  |  |  |
Forfeited or expired |  |  | (144,690 | ) |  | $ | 5.01 |  |  |  |  |  |  |  |  |
Outstanding at September 30, 2023 |  |  | 1,088,612 |  |  | $ | 7.11 |  |  |  | 3.54 |  |  | $ | 2,898 |
Vested and expected to vest at September 30, 2023 |  |  | 1,009,489 |  |  | $ | 7.20 |  |  |  | 3.37 |  |  | $ | 2,598 |
Exercisable at September 30, 2023 |  |  | 703,529 |  |  | $ | 7.79 |  |  |  | 2.36 |  |  | $ | 1,402 |

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