Note 15 - Stock-based Compensation Plan (Tables)

12 Months Ended

Dec. 31, 2022

Notes Tables

Share-Based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]

	Years Ended December 31,
	2022		2021
Cost of revenues	$	62	$	26
Selling expense		32		22
Engineering and product development expense		51		62
General and administrative expense		1,642		1,340
	$	1,787	$	1,450

Schedule of Share-Based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

	2022			2021
Risk-free interest rate		2.05	%		1.03	%
Dividend yield		0.00	%		0.00	%
Expected common stock market price volatility factor		.55			.50
Weighted average expected life of stock options (years)		6.25			6.25

Share-Based Payment Arrangement, Option, Activity [Table Text Block]

	Number of Shares			Weighted Average Exercise Price
Options outstanding, January 1, 2021		438,200		$	6.25
Granted		282,404			11.77
Exercised		(231,185	)		6.85
Canceled		(80,550	)		9.55
Options outstanding, December 31, 2021 (59,195 exercisable)		408,869			9.07
Granted		202,540			8.45
Exercised		(8,060	)		4.74
Canceled		(22,930	)		9.10
Options outstanding, December 31, 2022 (167,886 exercisable)		580,419			8.91

Nonvested Restricted Stock Shares Activity [Table Text Block]

	Number of Shares			Weighted Average Grant Date Fair Value
Unvested shares outstanding, January 1, 2021		237,155		$	4.93
Granted		131,209			11.74
Vested		(87,706	)		7.59
Forfeited		(18,125	)		9.02
Unvested shares outstanding, December 31, 2021		262,533			7.16
Granted		123,533			9.21
Vested		(91,672	)		8.04
Forfeited		(5,944	)		9.16
Unvested shares outstanding, December 31, 2022		288,450			7.80