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Note 15 - Share-based Compensation (Details Textual) - USD ($) $ in Thousands | 12 Months Ended |  |  |  |
--- | --- | --- | --- | --- | ---
Dec. 31, 2023 | Dec. 31, 2022 | Dec. 31, 2020 | Mar. 02, 2023 | Feb. 07, 2021 | Feb. 19, 2019 | Feb. 28, 2015
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Forfeiture Rate |  |  | 25.00% |  |  |  |
Share-Based Payment Arrangement, Expense | $ 877 | $ 1,563 |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 1,467 |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 10 years |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Minimum [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 1 year |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Maximum [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 5 years |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Minimum [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 1 year |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Maximum [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 5 years |  |  |  |  |  |
The 2015 Equity Incentive Plan [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) | 4,700,000 |  |  | 4,700,000 | 3,200,000 | 2,200,000 | 1,100,000
Shares, Issued (in shares) | 2,187,843 |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | 687,206 |  |  |  |  |  |
Share-Based Payment Arrangement, Expense |  | 619 |  |  |  |  |
Deferred Compensation Liability, Current, Total |  | $ 619 |  |  |  |  |
The 2007 and 2012 Equity Incentive Plans [Member] |  |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | 0 |  |  |  |  |  |

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- Definition Amount of expense for award under share-based payment arrangement. Excludes amount capitalized. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -Publisher FASB -URI https://asc.fasb.org//1943274/2147479830/718-10-S99-1 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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- Definition Aggregate carrying value as of the balance sheet date of the liabilities for all deferred compensation arrangements payable within one year (or the operating cycle, if longer). Represents currently earned compensation under compensation arrangements that is not actually paid until a later date. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Topic 710 -SubTopic 10 -Name Accounting Standards Codification -Section 25 -Paragraph 9 -Publisher FASB -URI https://asc.fasb.org//1943274/2147483070/710-10-25-9 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Name Accounting Standards Codification -Topic 710 -SubTopic 10 -Section 30 -Paragraph 2 -Publisher FASB -URI https://asc.fasb.org//1943274/2147483043/710-10-30-2 + Details
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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Topic 718 -SubTopic 10 -Name Accounting Standards Codification -Section 50 -Paragraph 2 -Subparagraph (a)(1) -Publisher FASB -URI https://asc.fasb.org//1943274/2147480429/718-10-50-2 + Details
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