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Note 12 - Stock-based Compensation (Details Textual) $ / shares in Units, $ in Thousands |  |  |  |  | 1 Months Ended | 3 Months Ended | 12 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 27, 2023 | Jun. 15, 2022 USD ($) $ / shares shares | Nov. 17, 2021 $ / shares shares | Jun. 01, 2020 $ / shares shares | Mar. 31, 2023 | Aug. 31, 2020 shares | Sep. 30, 2018 shares | Mar. 31, 2023 | Dec. 31, 2023 USD ($) $ / shares shares | Dec. 31, 2022 USD ($) shares | 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 1 month 6 days |  |  |  |
Share-Based Payment Arrangement, Expensed and Capitalized, Amount | $ |  |  |  |  |  |  |  |  | $ 55 | $ 100 |  |  |
Reverse Stock Split [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Stockholders' Equity Note, Stock Split, Conversion Ratio | 3 |  |  |  | 3 | 3 | 30 | 3 |  |  |  |  |
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 (in shares) |  |  |  |  |  |  |  |  |  |  | 1,632,242 |  |
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 |  |  |
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number (in shares) |  |  |  |  |  |  |  |  | 3,890 |  |  |  |
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 |  |  |  |
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 |  |  |  |
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 | $ |  |  |  |  |  |  |  |  | $ 383 | $ 1,689 |  |  |
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Nonemployee [Member] | General and Administrative Expense [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Expense | $ |  |  |  |  |  |  |  |  | 150 | $ 198 |  |  |
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 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] | 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] | 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, 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 | $ |  |  |  |  |  |  |  |  | 13 |  |  |  |
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 |  |  |  |  |  |  |  |  |  |  |
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 |  |  |  |  |  |  |  |  |  |  |
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 | $ |  |  |  |  |  |  |  |  | 0 | $ 100 |  |  |
Time Vesting Awards [Member] | Share-Based Payment Arrangement, Nonemployee [Member] |  |  |  |  |  |  |  |  |  |  |  |  |
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount | $ |  |  |  |  |  |  |  |  | $ 0 |  |  |  |

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