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Note 3 - Supplemental Balance Sheet Information (Details Textual)
$ in Thousands
 12 Months Ended
Dec. 31, 2023
USD ($)
Dec. 31, 2022
USD ($)
Dec. 31, 2021
USD ($)
Cash, Cash Equivalents, Restricted Cash, and Restricted Cash Equivalents $ 10,278 $ 5,713 $ 8,413
Restricted Cash and Cash Equivalents 82 79  
Depreciation $ 3,022 3,177  
Number of Reporting Units 2    
Goodwill, Impairment Loss $ 0    
Finite-Lived Intangible Asset, Expected Amortization, Year One 912    
Finite-Lived Intangible Asset, Expected Amortization, Year Two 912    
Finite-Lived Intangible Asset, Expected Amortization, Year Three 775    
Finite-Lived Intangible Asset, Expected Amortization, Year Four 775    
Finite-Lived Intangible Asset, Expected Amortization, Year Five 774    
NETHERLANDS      
Restricted Cash and Cash Equivalents $ 82 $ 79