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Note 11 - Share-based Compensation - Stock Option Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Dec. 31, 2021
Outstanding, number of options (in shares) 2,139,000 2,204,000  
Outstanding, weighted average exercise price per share (in dollars per share) $ 4.37 $ 4.41  
Outstanding, weighted average remaining contractual term (Year) 5 years 4 months 24 days 6 years 3 months 18 days 7 years 1 month 6 days
Expired, number of options (in shares) (17,000) (65,000)  
Expired, weighted average exercise price per share (in dollars per share)   $ 1.1  
Forfeited, number of options (in shares) (308,000)    
Outstanding, number of options (in shares) 1,814,000 2,139,000 2,204,000
Outstanding, weighted average exercise price per share (in dollars per share) $ 4.28 $ 4.37 $ 4.41
Options exercisable, number of options (in shares) 1,071,000    
Options exercisable, weighted average exercise price per share (in dollars per share) $ 3.81    
Options exercisable, weighted average remaining contractual term (Year) 5 years 6 months