Note 15 - Stock-based Compensation Plan - Stock Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Options outstanding, number of shares (in shares)	408,869	438,200
Options outstanding, weighted average exercise price (in dollars per share)		$ 6.25
Granted, number of shares (in shares)	202,540	282,404
Granted, weighted average exercise price (in dollars per share)	$ 8.45	$ 11.77
Exercised, number of shares (in shares)	(8,060)	(231,185)
Exercised, weighted average exercise price (in dollars per share)	$ 4.74	$ 6.85
Canceled, number of shares (in shares)	(22,930)	(80,550)
Canceled, weighted average exercise price (in dollars per share)	$ 9.10	$ 9.55
Options outstanding, number of shares (in shares)	580,419	408,869