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Note 13 - Income Tax (Details Textual) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2022
Dec. 31, 2021
Effective Income Tax Rate Reconciliation, Percent, Total (3.70%) (105.70%)
Deferred Tax Assets, Valuation Allowance $ 14,506 $ 14,700
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount (200) (2,000)
Research and Development Tax Credit Carryforwards Offset by Reserve for Uncertain Tax Positions 800  
Deferred Tax Assets, Tax Credit Carryforwards, Total 2,700  
Cash and Cash Equivalents, at Carrying Value, Total 4,508 7,821
Unrecognized Tax Benefits that Would Impact Effective Tax Rate 2,000  
Non-US [Member] | Subsidiaries [Member]    
Cash and Cash Equivalents, at Carrying Value, Total 2,600 2,800
Expire 2023 [Member]    
Deferred Tax Assets, Tax Credit Carryforwards, Research 8,100  
Deferred Tax Assets, Tax Credit Carryforwards, Foreign 100  
Expire 2036 [Member] | Research Tax Credit Carryforward [Member]    
Effective Income Tax Rate Reconciliation, Tax Credit, Foreign, Amount $ 200  
Domestic Tax Authority [Member]    
Open Tax Year 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022  
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member]    
Operating Loss Carryforwards $ 13,400  
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Expire between 2029 and 2038 [Member]    
Operating Loss Carryforwards 13,300  
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Indefinite Carryforward Beyond 2038 [Member]    
Operating Loss Carryforwards 100  
State and Local Jurisdiction [Member] | Expire between 2023 and 2042 [Member]    
Operating Loss Carryforwards 9,600  
Foreign Tax Authority [Member]    
Operating Loss Carryforwards $ 8,000  
Open Tax Year 2018 2019 2020 2021 2022  
UK Pension Liability [Member]    
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount   $ (900)