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Note 5 - Stock-based Compensation (Tables) | 12 Months Ended
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Dec. 31, 2023
Notes Tables |
Disclosure of Share-Based Compensation Arrangements by Share-Based Payment Award [Table Text Block] |
|  | Year ended December 31, |
|  | 2023 |  |  | 2022 |
Stock options |  | $ | 522 |  |  | $ | 761 |
Restricted stock |  |  | 6 |  |  |  | 15 |
Total |  | $ | 528 |  |  | $ | 776 |
Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | Year ended December 31, |
|  | 2023 |  |  | 2022 |
Risk-free interest rate |  |  | 4.1 | % |  |  | 4.2 | %
Volatility factor |  |  | 57 | % |  |  | 50 | %
Weighted average expected life (years) |  |  | 4.9 |  |  |  | 4.8 |
Forfeiture rate |  |  | 10.0 | % |  |  | 10.0 | %
Dividends |  |  | 0.0 | % |  |  | 0.0 | %
Share-Based Payment Arrangement, Option, Activity [Table Text Block] |
Year ended December 31, 2023 |
|  | Number of shares |  |  | Weighted average exercise price per share |  |  | Weighted average remaining contractual term |  |  | Aggregate intrinsic value |
Shares under option – January 1 |  |  | 1,425,693 |  |  | $ | 6.72 |  |  |  |  |  |  |  |  |
Options granted |  |  | 231,650 |  |  |  | 6.69 |  |  |  |  |  |  |  |  |
Options exercised |  |  | (254,393 | ) |  |  | 5.83 |  |  |  |  |  |  |  |  |
Options forfeited or expired |  |  | (152,355 | ) |  |  | 5.06 |  |  |  |  |  |  |  |  |
Shares under option – December 31 |  |  | 1,250,595 |  |  | $ | 7.10 |  |  |  | 3.97 |  |  | $ | 515 |
Vested and expected to vest - December 31 |  |  | 1,151,228 |  |  | $ | 7.17 |  |  |  | 3.79 |  |  | $ | 452 |
Options exercisable – December 31 |  |  | 789,209 |  |  | $ | 7.56 |  |  |  | 2.69 |  |  | $ | 241 |
Year ended December 31, 2022 |
|  | Number of shares |  |  | Weighted average exercise price per share |
Shares under option – January 1 |  |  | 1,306,824 |  |  | $ | 6.87 |
Options granted |  |  | 289,950 |  |  |  | 5.42 |
Options exercised |  |  | (59,500 | ) |  |  | 3.82 |
Options forfeited or expired |  |  | (111,581 | ) |  |  | 6.56 |
Shares under option – December 31 |  |  | 1,425,693 |  |  | $ | 6.72 |
Options exercisable – December 31 |  |  | 881,804 |  |  | $ | 7.13 |
Share-Based Payment Arrangement, Option, Exercise Price Range [Table Text Block] |
|  |  |  | Option outstanding |  |  | Options exercisable |
Range of exercise prices |  | Number of outstanding options |  |  | Weighted- average remaining contractual life |  |  | Weighted- average exercise price |  |  | Number of options exercisable |  |  | Weighted- average exercise price |
$4.07 | - | $6.36 |  |  | 338,364 |  |  |  | 4.79 |  |  | $ | 5.42 |  |  |  | 156,099 |  |  | $ | 5.54 |
$6.51 | - | $6.84 |  |  | 353,733 |  |  |  | 5.54 |  |  |  | 6.71 |  |  |  | 134,583 |  |  |  | 6.51 |
$6.97 | - | $8.25 |  |  | 334,165 |  |  |  | 2.89 |  |  |  | 7.64 |  |  |  | 290,355 |  |  |  | 7.74 |
$8.45 | - | $9.96 |  |  | 224,333 |  |  |  | 1.88 |  |  |  | 9.44 |  |  |  | 208,172 |  |  |  | 9.51 |
$4.07 | - | $9.96 |  |  | 1,250,595 |  |  |  | 3.97 |  |  | $ | 7.10 |  |  |  | 789,209 |  |  | $ | 7.56 |

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- Definition Tabular disclosure of option exercise prices, by grouped ranges, including the upper and lower limits of the price range, the number of shares under option, weighted average exercise price and remaining contractual option terms. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure for stock option plans. Includes, but is not limited to, outstanding awards at beginning and end of year, grants, exercises, forfeitures, and weighted-average grant date fair value. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (d) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (e) -SubTopic 10 -Topic 718 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 718 -SubTopic 10 -Subparagraph (f)(2) -Name Accounting Standards Codification -Paragraph 2 -Section 50 -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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