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Note 5 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2024
Outstanding, shares (in shares) 1,250,595
Outstanding, weighted average exercise price (in dollars per share) $ 7.1
Granted, shares (in shares) 3,460
Granted, weighted average exercise price (in dollars per share) $ 6.84
Exercised, shares (in shares) (288,675)
Exercised, weighted average exercise price (in dollars per share) $ 7.1
Forfeited or expired, shares (in shares) (91,482)
Forfeited or expired, weighted average exercise price (in dollars per share) $ 8.79
Outstanding, shares (in shares) 873,898
Outstanding, weighted average exercise price (in dollars per share) $ 6.92
Outstanding, weighted average remaining contractual term (Year) 4 years 4 months 2 days
Outstanding, aggregate intrinsic value $ 3,231
Vested and expected to vest, shares (in shares) 775,281
Vested and expected, weighted average exercise price (in dollars per share) $ 7
Vested and expected to vest, weighted average remaining contractual term (Year) 4 years 2 months 4 days
Vested and expected to vest, aggregate intrinsic value $ 2,805
Exercisable, shares (in shares) 417,867
Exercisable, weighted average exercise price (in dollars per share) $ 7.56
Exercisable, weighted average remaining contractual term (Year) 2 years 10 months 13 days
Exercisable, aggregate intrinsic value $ 1,277