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Note 11 - Share-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
Outstanding, number of options (in shares) 2,204,000 2,294,000  
Outstanding, weighted average exercise price per share (in dollars per share) $ 4.41 $ 4.34  
Outstanding, weighted average remaining contractual term (Year) 6 years 3 months 18 days 7 years 1 month 6 days 8 years
Balance, aggregate intrinsic value $ 0 $ 2,256  
Granted, number of options (in shares) 0 108,000  
Granted, weighted average exercise price per share (in dollars per share) $ 6.33  
Granted, weighted average remaining contractual term (Year)   9 years 8 months 12 days  
Granted (in dollars per share)   $ 0  
Forfeited, number of options (in shares)   0  
Expired, number of options (in shares)   (198,000)  
Exercised, number of options (in shares) (65,000)    
Exercised (in dollars per share) $ 1.10    
Outstanding, number of options (in shares) 2,139,000 2,204,000 2,294,000
Outstanding, weighted average exercise price per share (in dollars per share) $ 4.37 $ 4.41 $ 4.34
Options exercisable, number of options (in shares) 1,242,000    
Options exercisable, weighted average exercise price per share (in dollars per share) $ 3.98    
Options exercisable, weighted average remaining contractual term (Year) 6 years 3 months 18 days