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Note 10 - Capital Stock and Stock-based Compensation - Stock Option and Restricted Stock Unit Activity (Details) - $ / shares
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Opening Balance, Stock Options Outstanding (in shares) 1,404,816 2,637,339
Options, Outstanding, Weighted Average Exercise Price (in dollars per share) $ 3.10 $ 3.51
Options, Granted in Period (in shares) 0 0
Options, Granted in Period, Weighted Average Exercise Price (in dollars per share) $ 0 $ 0
Options, exercised (in shares) (40,267) (579,968)
Options, exercised, weighted average exercise price (in dollars per share) $ 2.64 $ 3.77
Options, Cancelled / Forfeited in Period (in shares) (125,773) (652,555)
Options, Cancelled / Forfeited, Weighted Average Exercise Price (in dollars per share) $ 2.77 $ 4.24
Opening Balance, Stock Options Outstanding (in shares) 1,238,776 1,404,816
Options, Outstanding, Weighted Average Exercise Price (in dollars per share) $ 3.15 $ 3.10
Restricted Stock Units (RSUs) [Member]    
Restricted Stock Units Outstanding , Balance (in shares) 1,141,164 1,560,461
Restricted Stock Units Outstanding , Grant Date Fair Value, Balance (in dollars per share) $ 3.57 $ 2.44
Restricted Stock Units, Granted in Period (in shares) 918,870 820,831
Restricted Stock Units Granted , Grant Date Fair Value, Balance (in dollars per share) $ 4.64 $ 4.74
Restricted Stock Units, Vested in Period (in shares) (733,611) (1,167,473)
Restricted Stock Units, Vested , Grant Date Fair Value, Balance (in dollars per share) $ 4.08 $ 2.88
Restricted Stock Units, Cancelled / Forfeited in Period (in shares) (232,622) (72,655)
Restricted Stock Units, Cancelled/ Forfeited , Grant Date Fair Value, Balance (in dollars per share) $ 4.44 $ 3.67
Performance Factor Adjustment (in shares)   0
Performance Factor Adjustment, grant date fair value (in dollars per share)   $ 0
Restricted Stock Units Outstanding , Balance (in shares) 1,093,801 1,141,164
Restricted Stock Units Outstanding , Grant Date Fair Value, Balance (in dollars per share) $ 3.94 $ 3.57
Market Condition Restricted Stock Units [Member]    
Restricted Stock Units Outstanding , Balance (in shares) 860,155 813,031
Restricted Stock Units Outstanding , Grant Date Fair Value, Balance (in dollars per share) $ 3.13 $ 2.12
Restricted Stock Units, Granted in Period (in shares) 320,272 293,509
Restricted Stock Units Granted , Grant Date Fair Value, Balance (in dollars per share) $ 5.08 $ 4.61
Restricted Stock Units, Vested in Period (in shares) (401,308) (403,422)
Restricted Stock Units, Vested , Grant Date Fair Value, Balance (in dollars per share) $ 2.11 $ 2.11
Restricted Stock Units, Cancelled / Forfeited in Period (in shares) (132,884) (6,179)
Restricted Stock Units, Cancelled/ Forfeited , Grant Date Fair Value, Balance (in dollars per share) $ 4.21 $ 2.98
Performance Factor Adjustment (in shares) 163,216 163,216
Performance Factor Adjustment, grant date fair value (in dollars per share)   $ 2.98
Restricted Stock Units Outstanding , Balance (in shares) 646,235 860,155
Restricted Stock Units Outstanding , Grant Date Fair Value, Balance (in dollars per share) $ 4.51 $ 3.13