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Note 13 - Stock-based Compensation (Details Textual) $ / shares in Units, $ in Thousands |  |  |  | 1 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Jun. 15, 2022 USD ($) $ / shares shares | Nov. 17, 2021 $ / shares shares | Jun. 01, 2020 $ / shares shares | Aug. 31, 2020 shares | Sep. 30, 2018 shares | Dec. 31, 2022 USD ($) $ / shares shares | Dec. 31, 2021 USD ($) | Jul. 10, 2020 shares | Aug. 31, 2018 shares | Oct. 30, 2014 shares
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Year) |  |  |  |  |  | 6 years 8 months 12 days |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount, Total | $ |  |  |  |  |  | $ 125 |  |  |  |
Capitalized Software [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Amount Capitalized | $ |  |  |  |  |  | $ 15 |  |  |  |
Reverse Stock Split [Member] |  |  |  |  |  |  |  |  |  |
Stockholders' Equity Note, Stock Split, Conversion Ratio |  |  |  | 3 | 30 |  |  |  |  |
Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  |  | 2,000,000 | 2,000,000 | 600,000 |  |  | 6,000,000 | 18,000,000 | 7,390,355
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  |  |  |  | 1,532,242 |  |  |  |
Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Employee [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 526,667 |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options,Vested in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares |  |  | $ 7.59 |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares |  |  | $ 5.61 |  |  |  |  |  |  |
Amended and Restated 2006 Equity Incentive Plan [Member] | Share-Based Payment Arrangement, Employee [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  | 573,334 |  |  |  |
Amended and Restated 2006 Non-employee Director Stock Option Plan [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares) |  |  |  |  |  | 233,334 |  |  |  |
Equity Incentive Plan 2006 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) |  |  |  |  |  | 4,002 |  |  |  |
Chief Executive Officer [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 160,000 |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested, Number of Shares, Ending Balance (in shares) | 106,667 |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares |  |  |  |  |  | $ 7.59 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested Options Forfeited, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares |  |  |  |  |  | 5.61 |  |  |  |
Chief Financial Officer [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  | 80,000 |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested, Number of Shares, Ending Balance (in shares) | 53,334 |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares |  |  |  |  |  | 7.59 |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested Options Forfeited, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares |  |  |  |  |  | $ 5.61 |  |  |  |
Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  | 85,000 |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares |  | $ 6.63 |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares |  | $ 5.23 |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Revenue Target | $ | $ 38,000 |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, EBITDA target | $ | $ 3,600 |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Employee [Member] | General and Administrative Expense [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ |  |  |  |  |  | $ 1,689 | $ 1,494 |  |  |
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Nonemployee [Member] | General and Administrative Expense [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ |  |  |  |  |  | 198 | 398 |  |  |
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ |  |  |  |  |  | 849 |  |  |  |
Share-Based Payment Arrangement, Benefit Recorded From Forfeiture Awards | $ |  |  |  |  |  | 50 |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Employee [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  |  | 10 years |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  |  | 3 years |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Tranche One [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  |  | 33.33% |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Tranche Two [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  |  | 33.33% |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Tranche Three [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  |  | 33.33% |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Chief Executive Officer [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  |  | 10 years |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  |  | 3 years |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Chief Financial Officer [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  |  | 10 years |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year) |  |  | 3 years |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) |  | 10 years |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] | Vesting Immediately [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  | 33.33% |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] | Vesting at First Anniversary of Grant Date [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  | 33.33% |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] | Vesting at Second Anniversary of Grant Date [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage |  | 33.33% |  |  |  |  |  |  |  |
New Options [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ |  |  |  |  |  | $ 7 |  |  |  |
Share-Based Payment Arrangement, Guaranteed Price (in dollars per share) | $ / shares | $ 19.20 |  |  |  |  |  |  |  |  |
New Options [Member] | Stock Incentive Plan 2014 [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares | 0.63 |  |  |  |  |  |  |  |  |
New Options [Member] | Stock Incentive Plan 2014 [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares | $ 1.11 |  |  |  |  |  |  |  |  |
New Options [Member] | Chief Executive Officer [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) | 10 years |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) | 333,334 |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares | $ 3.00 |  |  |  |  |  |  |  |  |
New Options [Member] | Chief Financial Officer [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) | 10 years |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) | 200,000 |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares | $ 3.00 |  |  |  |  |  |  |  |  |
New Options [Member] | Non-executives [Member] | Stock Incentive Plan 2014 [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) |  |  |  |  |  | 100,000 |  |  |  |
Time Vesting Awards [Member] | Share-Based Payment Arrangement, Employee [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ |  |  |  |  |  | $ 843 | $ 1,360 |  |  |
Time Vesting Awards [Member] | Share-Based Payment Arrangement, Nonemployee [Member] |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ |  |  |  |  |  | $ 62 |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  |  | 2 years |  |  |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + 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 -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average price of options that were either forfeited or expired. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iv)(01) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Percentage of vesting of award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2009/role/commonPracticeRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of cost expensed and capitalized for award under share-based payment arrangement. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/exampleRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Number of non-vested options outstanding. + References No definition available. + Details
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