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Note 10 - Capital Stock and Stock-based Compensation - Stock Option and Restricted Stock Unit Activity (Details)
 9 Months Ended
Sep. 30, 2023
$ / shares
shares
Balance at December 31, 2022 (in shares) | shares 1,238,776
Balance at December 31, 2022 (in dollars per share) | $ / shares $ 3.15
Options, Granted in Period (in shares) | shares 0
Options, Granted in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares $ 0
Options, exercised (in shares) | shares (213,644)
Options, exercised, weighted average exercise price (in dollars per share) | $ / shares $ 2.38
Options, Cancelled / Forfeited in Period (in shares) | shares (101,065)
Options, Cancelled / Forfeited, Weighted Average Exercise Price (in dollars per share) | $ / shares $ 2.47
Balance at September 30, 2023 (in shares) | shares 924,067
Balance at September 30, 2023 (in dollars per share) | $ / shares $ 3.37
Restricted Stock Units (RSUs) [Member]  
Balance at December 31, 2022 (in shares) | shares 1,093,801
Balance at December 31, 2022 (in dollars per share) | $ / shares $ 3.94
Restricted Stock Units, Granted in Period (in shares) | shares 1,306,445
Restricted Stock Units Granted , Grant Date Fair Value, Balance (in dollars per share) | $ / shares $ 2.82
Restricted Stock Units, Vested in Period (in shares) | shares (295,531)
Restricted Stock Units, Vested , Grant Date Fair Value, Balance (in dollars per share) | $ / shares $ 2.97
Restricted Stock Units, Cancelled / Forfeited in Period (in shares) | shares (86,440)
Restricted Stock Units, Cancelled/ Forfeited , Grant Date Fair Value, Balance (in dollars per share) | $ / shares $ 3.9
Balance at September 30, 2023 (in shares) | shares 2,018,275
Balance at September 30, 2023 (in dollars per share) | $ / shares $ 3.36
Market Condition Restricted Stock Units [Member]  
Balance at December 31, 2022 (in shares) | shares 646,235
Balance at December 31, 2022 (in dollars per share) | $ / shares $ 4.51
Restricted Stock Units, Granted in Period (in shares) | shares 558,958
Restricted Stock Units Granted , Grant Date Fair Value, Balance (in dollars per share) | $ / shares $ 2.61
Restricted Stock Units, Vested in Period (in shares) | shares (115,976)
Restricted Stock Units, Vested , Grant Date Fair Value, Balance (in dollars per share) | $ / shares $ 2.98
Restricted Stock Units, Cancelled / Forfeited in Period (in shares) | shares (87,138)
Restricted Stock Units, Cancelled/ Forfeited , Grant Date Fair Value, Balance (in dollars per share) | $ / shares $ 4.64
Balance at September 30, 2023 (in shares) | shares 1,002,079
Balance at September 30, 2023 (in dollars per share) | $ / shares $ 3.62