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Note 5 - Stock-based Compensation (Tables)
9 Months Ended
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