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Note 5 - Stock-based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2024
USD ($)
$ / shares
shares
Outstanding, shares (in shares) | shares 1,250,595
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 7.1
Granted, shares (in shares) | shares 3,460
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 6.84
Exercised, shares (in shares) | shares (103,839)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 6.6
Forfeited or expired, shares (in shares) | shares (86,356)
Forfeited or expired, weighted average exercise price (in dollars per share) | $ / shares $ 8.96
Outstanding, shares (in shares) | shares 1,063,860
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 7
Outstanding, weighted average remaining contractual term (Year) 4 years 2 months 19 days
Outstanding, aggregate intrinsic value | $ $ 2,258
Vested and expected to vest, shares (in shares) | shares 964,552
Vested and expected, weighted average exercise price (in dollars per share) | $ / shares $ 7.07
Vested and expected to vest, weighted average remaining contractual term (Year) 4 years 21 days
Vested and expected to vest, aggregate intrinsic value | $ $ 1,987
Exercisable, shares (in shares) | shares 604,537
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 7.5
Exercisable, weighted average remaining contractual term (Year) 2 years 11 months 1 day
Exercisable, aggregate intrinsic value | $ $ 1,018