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Note 5 - Share-based Compensation - Options Range of Exercise Prices (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Lower range limit (in dollars per share) $ 4.07  
Upper range limit (in dollars per share) $ 9.96  
Options outstanding, number of outstanding options (in shares) 1,250,595  
Options outstanding, weighted-average remaining contractual life (Year) 3 years 11 months 19 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 7.1  
Options exercisable, number of options exercisable (in shares) 789,209  
Options exercisable – weighted average exercise price (in dollars per share) $ 7.56 $ 7.13
Range One [Member]    
Lower range limit (in dollars per share) 4.07  
Upper range limit (in dollars per share) $ 6.36  
Options outstanding, number of outstanding options (in shares) 338,364  
Options outstanding, weighted-average remaining contractual life (Year) 4 years 9 months 14 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 5.42  
Options exercisable, number of options exercisable (in shares) 156,099  
Options exercisable – weighted average exercise price (in dollars per share) $ 5.54  
Range Two [Member]    
Lower range limit (in dollars per share) 6.51  
Upper range limit (in dollars per share) $ 6.84  
Options outstanding, number of outstanding options (in shares) 353,733  
Options outstanding, weighted-average remaining contractual life (Year) 5 years 6 months 14 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 6.71  
Options exercisable, number of options exercisable (in shares) 134,583  
Options exercisable – weighted average exercise price (in dollars per share) $ 6.51  
Range Three [Member]    
Lower range limit (in dollars per share) 6.97  
Upper range limit (in dollars per share) $ 8.25  
Options outstanding, number of outstanding options (in shares) 334,165  
Options outstanding, weighted-average remaining contractual life (Year) 2 years 10 months 20 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 7.64  
Options exercisable, number of options exercisable (in shares) 290,355  
Options exercisable – weighted average exercise price (in dollars per share) $ 7.74  
Range Four [Member]    
Lower range limit (in dollars per share) 8.45  
Upper range limit (in dollars per share) $ 9.96  
Options outstanding, number of outstanding options (in shares) 224,333  
Options outstanding, weighted-average remaining contractual life (Year) 1 year 10 months 17 days  
Options outstanding, weighted-average exercise price (in dollars per share) $ 9.44  
Options exercisable, number of options exercisable (in shares) 208,172  
Options exercisable – weighted average exercise price (in dollars per share) $ 9.51