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Note 9 - Leases - Leases Information (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2023
Jun. 30, 2022
Jun. 30, 2023
Jun. 30, 2022
Amortization of finance lease assets $ 369 $ 288 $ 739 $ 576
Interest on finance lease liabilities 86 96 184 176
Total finance lease costs 455 384 923 752
Operating lease cost 689 705 1,393 1,403
Short-term lease cost 78 144 167 296
Variable lease cost [1] 178 226 523 452
Sublease income (49) (31) (97) (79)
Total operating lease costs 896 1,044 1,986 2,072
Total lease cost $ 1,351 $ 1,428 2,909 2,824
Operating cash outflow from operating leases     $ 1,727 $ 1,736
Weighted-average remaining lease term-finance leases at end of period (in years) (Year) 3 years 1 month 6 days 2 years 8 months 12 days 3 years 1 month 6 days 2 years 8 months 12 days
Weighted-average remaining lease term-operating leases at end of period (in years) (Year) 7 years 8 months 12 days 8 years 6 months 7 years 8 months 12 days 8 years 6 months
Weighted-average discount rate-finance leases at end of period 5.10% 6.00% 5.10% 6.00%
Weighted-average discount rate-operating leases at end of period 8.80% 8.70% 8.80% 8.70%
[1] Variable lease costs consist primarily of taxes, insurance, utilities, and common area or other maintenance costs for the Company’s leased facilities and equipment.