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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