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Note 5 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 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) (204,891)
Exercised, weighted average exercise price (in dollars per share) $ 5.71
Forfeited or expired, shares (in shares) (144,690)
Forfeited or expired, weighted average exercise price (in dollars per share) $ 5.01
Outstanding, shares (in shares) 1,088,612
Outstanding, weighted average exercise price (in dollars per share) $ 7.11
Outstanding, weighted average remaining contractual term (Year) 3 years 6 months 14 days
Outstanding, aggregate intrinsic value $ 2,898
Vested and expected to vest, shares (in shares) 1,009,489
Vested and expected, weighted average exercise price (in dollars per share) $ 7.20
Vested and expected to vest, weighted average remaining contractual term (Year) 3 years 4 months 13 days
Vested and expected to vest, aggregate intrinsic value $ 2,598
Exercisable, shares (in shares) 703,529
Exercisable, weighted average exercise price (in dollars per share) $ 7.79
Exercisable, weighted average remaining contractual term (Year) 2 years 4 months 9 days
Exercisable, aggregate intrinsic value $ 1,402