Note 12 - Stock-Based Compensation - Stock-Based Payment Awards (Details) - USD ($) $ / shares in Units, $ in Thousands	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
Exercised (in shares)	(213,644)	(40,267)
Exercised (in dollars per share)	$ 2.38	$ 2.64
Cancelled/Forfeited (in shares)	(101,065)	(125,773)
Cancelled/Forfeited (in dollars per share)	$ 2.71	$ 2.77
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
Outstanding and Exerciseable at December 31, 2023 (Year)	3 years 4 months 24 days
Outstanding and Exerciseable at December 31, 2023	$ 1,836

The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average price at which grantees could have acquired the underlying shares with respect to stock options that were terminated.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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