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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
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Dec. 31, 2022 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 | 1,238,776
Options Outstanding, Weighted Average Remaining Contractual Life (Year) | 4 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) | $ 3.15
Options Outstanding, Aggregate Intrinsic Value | $ | $ 190
Options Exercisable, Shares Exercisable (in shares) | shares | 1,039,680
Options Exercisable. Weighted Average Remaining Contractual Life (Year) | 4 years 6 months
Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 3.25
Options Exercisable, Aggregate Intrinsic Value | $ | $ 138
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 | 135,342
Options Outstanding, Weighted Average Remaining Contractual Life (Year) | 6 years 3 months 18 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) | $ 1.89
Options Outstanding, Aggregate Intrinsic Value | $ | $ 119
Options Exercisable, Shares Exercisable (in shares) | shares | 102,381
Options Exercisable. Weighted Average Remaining Contractual Life (Year) | 6 years 2 months 12 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 1.91
Options Exercisable, Aggregate Intrinsic Value | $ | $ 88
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 | 505,423
Options Outstanding, Weighted Average Remaining Contractual Life (Year) | 4 years 4 months 24 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) | $ 2.63
Options Outstanding, Aggregate Intrinsic Value | $ | $ 71
Options Exercisable, Shares Exercisable (in shares) | shares | 357,192
Options Exercisable. Weighted Average Remaining Contractual Life (Year) | 4 years 4 months 24 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 2.63
Options Exercisable, Aggregate Intrinsic Value | $ | $ 50
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 | 135,077
Options Outstanding, Weighted Average Remaining Contractual Life (Year) | 6 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) | $ 2.93
Options Outstanding, Aggregate Intrinsic Value | $ | $ 0
Options Exercisable, Shares Exercisable (in shares) | shares | 135,077
Options Exercisable. Weighted Average Remaining Contractual Life (Year) | 6 years 7 months 6 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 2.93
Options Exercisable, Aggregate Intrinsic Value | $ | $ 0
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) | 4 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) | $ 3.38
Options Outstanding, Aggregate Intrinsic Value | $ | $ 0
Options Exercisable, Shares Exercisable (in shares) | shares | 206,808
Options Exercisable. Weighted Average Remaining Contractual Life (Year) | 4 years 2 months 12 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 3.38
Options Exercisable, Aggregate Intrinsic Value | $ | $ 0
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 | 256,126
Options Outstanding, Weighted Average Remaining Contractual Life (Year) | 3 years 2 months 12 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) | $ 4.76
Options Outstanding, Aggregate Intrinsic Value | $ | $ 0
Options Exercisable, Shares Exercisable (in shares) | shares | 238,222
Options Exercisable. Weighted Average Remaining Contractual Life (Year) | 3 years
Options Exercisable, Weighted Average Exercise Price (in dollars per share) | $ 4.83
Options Exercisable, Aggregate Intrinsic Value | $ | $ 0

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- Definition Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (g) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Amount of difference between fair value of the underlying shares reserved for issuance and exercise price of vested portions of options outstanding and currently exercisable. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term of exercisable stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(2) -URI https://asc.fasb.org/extlink&oid=128089324&loc=d3e5070-113901 + Details
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