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Note 12 - Stock-Based Compensation - Activity of Restricted Stock and Restricted Stock Units (Details) - $ / shares
 12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Outstanding at December 31, 2021 (in shares) 1,238,776 1,404,816
Outstanding at December 31, 2021 (in dollars per share) $ 3.15 $ 3.1
Outstanding at December 31, 2022 (in shares) 924,067 1,238,776
Outstanding at December 31, 2022 (in dollars per share) $ 3.37 $ 3.15
Restricted Stock Units (RSUs) [Member]    
Outstanding at December 31, 2021 (in shares) 1,093,801 1,141,164
Outstanding at December 31, 2021 (in dollars per share) $ 3.94 $ 3.57
Options, Granted in Period (in shares) 1,350,125 918,870
Options, Granted in Period, Weighted Average Exercise Price (in dollars per share) $ 2.87 $ 4.64
Restricted Stock Units, Vested in Period (in shares) (1,144,065) (733,611)
Restricted Stock Units, Vested, Grant Date Fair Value, Balance (in dollars per share) $ 3.38 $ 4.08
Options, Cancelled / Forfeited in Period (in shares) (134,865) (232,622)
Options, Cancelled / Forfeited, Weighted Average Exercise Price (in dollars per share) $ 3.71 $ 4.44
Outstanding at December 31, 2022 (in shares) 1,164,996 1,093,801
Outstanding at December 31, 2022 (in dollars per share) $ 3.28 $ 3.94
Market Condition Restricted Stock Units [Member]    
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
Restricted Stock Units, Granted in Period (in shares) 558,958 320,272
Restricted Stock Units Granted , Grant Date Fair Value, Balance (in dollars per share) $ 2.61 $ 5.08
Restricted Stock Units, Vested in Period (in shares) (316,210) (401,308)
Restricted Stock Units, Vested, Grant Date Fair Value, Balance (in dollars per share) $ 4.01 $ 2.11
Restricted Stock Units, Cancelled / Forfeited in Period (in shares) (87,138) (132,884)
Restricted Stock Units, Cancelled/ Forfeited , Grant Date Fair Value, Balance (in dollars per share) $ 4.64 $ 4.21
Restricted Stock Units Outstanding , Balance (in shares) 801,845 646,235
Restricted Stock Units Outstanding , Grant Date Fair Value, Balance (in dollars per share) $ 3.37 $ 4.51