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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, 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