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Note 5 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Shares under option, beginning of period (in shares) 1,425,693 1,306,824
Options outstanding - weighted average exercise price (in dollars per share) $ 6.72 $ 6.87
Options granted (in shares) 231,650 289,950
Options granted (in dollars per share) $ 6.69 $ 5.42
Options exercised (in shares) (254,393) (59,500)
Options exercised (in dollars per share) $ 5.83 $ 3.82
Options forfeited or expired (in shares) (152,355) (111,581)
Options forfeited or expired (in dollars per share) $ 5.06 $ 6.56
Shares under option, end of period (in shares) 1,250,595 1,425,693
Options outstanding - weighted average exercise price (in dollars per share) $ 7.1 $ 6.72
Options outstanding - weighted average remaining contractual term (Year) 3 years 11 months 19 days  
Options exercisable – aggregate intrinsic value (in shares) 789,209 881,804
Options outstanding - aggregate intrinsic value $ 515  
Options exercisable – weighted average exercise price (in dollars per share) $ 7.56 $ 7.13
Vested and Expected to Vest (in shares) 1,151,228  
Options vested and expected to vest - weighted average exercise price (in dollars per share) $ 7.17  
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 9 months 14 days  
Options vested and expected to vest - aggregate intrinsic value $ 452  
Options exercisable – weighted average remaining contractual term (Year) 2 years 8 months 8 days  
Options exercisable - aggregate intrinsic value $ 241