XML 76 R59.htm IDEA: XBRL DOCUMENT v3.24.1
Note 12 - Employee Stock Plans (Details Textual) - shares
12 Months Ended
May 10, 2022
Apr. 24, 2019
Dec. 31, 2023
Jan. 01, 2023
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)       10 years
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)       4 years
Stock Plan 2009 [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)   10 years    
Stock Plan 2019 [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant (in shares) 522,000 357,000    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Additional Shares Authorized (in shares) 900,000     900,000
Common Stock, Capital Shares Reserved for Future Issuance (in shares)     595,000  
Stock Plan 2019 [Member] | Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Tranche One [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage     25.00%  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     1 year  
The 2009 Employee Stock Purchase Plan [Member]        
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)     10 years  
Common Stock, Capital Shares Reserved for Future Issuance (in shares)     161,000  
Share-based Compensation Arrangement by Share-based Payment Award, Offering Period (Month)     6 months  
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate     20.00%  
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Number of Shares Per Employee (in shares)     1,429  
Share-based Compensation Arrangement by Share-based Payment Award, Discount from Market Price, Offering Date     85.00%