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Note 10 - Capital Stock and Stock-based Compensation - Outstanding and Exercisable Options (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2021
USD ($)
$ / shares
shares
Range of Exercise Price, Lower Limit (in dollars per share) $ 1.78
Range of Exercise Price, Upper Limit (in dollars per share) $ 5.51
Options Outstanding, Shares Outstanding (in shares) | shares 1,404,816
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 5 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 3.10
Options Outstanding, Aggregate Intrinsic Value | $ $ 5,553
Options Exercisable, Shares Exercisable (in shares) | shares 851,340
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 5 years 2 months 12 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 3.38
Options Exercisable, Aggregate Intrinsic Value | $ $ 3,125
Exercise Price Range 1 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 1.78
Range of Exercise Price, Upper Limit (in dollars per share) $ 2.62
Options Outstanding, Shares Outstanding (in shares) | shares 188,253
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 6 years 4 months 24 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.08
Options Outstanding, Aggregate Intrinsic Value | $ $ 935
Options Exercisable, Shares Exercisable (in shares) | shares 90,551
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 6 years 1 month 6 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 2.09
Options Exercisable, Aggregate Intrinsic Value | $ $ 449
Exercise Price Range 2 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 2.63
Range of Exercise Price, Upper Limit (in dollars per share) $ 2.78
Options Outstanding, Shares Outstanding (in shares) | shares 586,160
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 5 years 4 months 24 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.63
Options Outstanding, Aggregate Intrinsic Value | $ $ 2,591
Options Exercisable, Shares Exercisable (in shares) | shares 234,299
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 5 years 4 months 24 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 2.63
Options Exercisable, Aggregate Intrinsic Value | $ $ 1,036
Exercise Price Range 3 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 2.79
Range of Exercise Price, Upper Limit (in dollars per share) $ 3.24
Options Outstanding, Shares Outstanding (in shares) | shares 160,071
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 7 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.95
Options Outstanding, Aggregate Intrinsic Value | $ $ 656
Options Exercisable, Shares Exercisable (in shares) | shares 99,751
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 7 years 6 months
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 2.95
Options Exercisable, Aggregate Intrinsic Value | $ $ 409
Exercise Price Range 4 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 3.25
Range of Exercise Price, Upper Limit (in dollars per share) $ 3.72
Options Outstanding, Shares Outstanding (in shares) | shares 206,808
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 5 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 3.38
Options Outstanding, Aggregate Intrinsic Value | $ $ 760
Options Exercisable, Shares Exercisable (in shares) | shares 206,808
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 5 years 2 months 12 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 3.38
Options Exercisable, Aggregate Intrinsic Value | $ $ 760
Exercise Price Range 5 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 3.73
Range of Exercise Price, Upper Limit (in dollars per share) $ 5.51
Options Outstanding, Shares Outstanding (in shares) | shares 263,524
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 4 years 3 months 18 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 4.73
Options Outstanding, Aggregate Intrinsic Value | $ $ 611
Options Exercisable, Shares Exercisable (in shares) | shares 219,931
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 3 years 8 months 12 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 4.91
Options Exercisable, Aggregate Intrinsic Value | $ $ 471