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Note 15 - Stockholders' Equity and Stock-based Compensation - Restricted Stock Awards and Restricted Stock Units Activity (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Outstanding, shares (in shares) 210,939 427,019
Outstanding, weighted average grant date fair value (in dollars per share) $ 4.43 $ 1.76
Granted, shares (in shares) 0 40,764
Granted, weighted average grant date fair value (in dollars per share) $ 0 $ 4.11
Vested, shares (in shares) (183,762) (247,006) [1]
Vested, weighted average grant date fair value (in dollars per share) $ 5.35 $ 4.3 [1]
Forfeited, shares (in shares) 0 (9,838)
Forfeited, weighted average grant date fair value (in dollars per share) $ 0 $ 1.75
Outstanding, shares (in shares) 27,177 210,939
Outstanding, weighted average grant date fair value (in dollars per share) $ 4.11 $ 4.43
[1] Amount includes 500,000 RSUs which vested upon the resignation of Mr. Reddinger and 250,000 RSUs which vested upon the employment of Mr. Ballard as described above.