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Note 11 - Stock-based Compensation Plan - Allocation of Share-based Compensation Expense (Details) - Restricted Stock [Member] - USD ($) $ in Thousands | 3 Months Ended | 9 Months Ended
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Sep. 30, 2023 | Sep. 30, 2022 | Sep. 30, 2023 | Sep. 30, 2022
Share-Based Payment Arrangement, Expense | $ 544 | $ 450 | $ 1,623 | $ 1,373
Cost of Sales [Member] |  |  |  |
Share-Based Payment Arrangement, Expense | 28 | 18 | 76 | 44
Selling and Marketing Expense [Member] |  |  |  |
Share-Based Payment Arrangement, Expense | 9 | 9 | 30 | 23
Research and Development Expense [Member] |  |  |  |
Share-Based Payment Arrangement, Expense | (1) | 6 | 18 | 43
General and Administrative Expense [Member] |  |  |  |
Share-Based Payment Arrangement, Expense | $ 508 | $ 417 | $ 1,499 | $ 1,263

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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