Note 20 - Quarterly Consolidated Financial Data (Unaudited) - Quarterly Consolidated Financial Data (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended												12 Months Ended
	Dec. 31, 2022	Sep. 30, 2022	Jun. 30, 2022	Mar. 31, 2022	Dec. 31, 2021	[1]	Sep. 30, 2021	[2]	Jun. 30, 2021	[3]	Mar. 31, 2021	[4]	Dec. 31, 2022	Dec. 31, 2021
Revenue from Contract with Customer, Including Assessed Tax	$ 32,405	$ 30,771	$ 29,571	$ 24,081	$ 22,358		$ 21,144		$ 21,820		$ 19,556		$ 116,828	$ 84,878
Gross margin	14,981	13,898	13,548	11,013	10,346		10,395		10,962		9,521		53,440	41,224
Earnings before income tax expense	3,881	3,039	2,570	655	236		2,532		3,056		2,578		10,145	8,402
Income tax expense	637	515	454	78	(51)		357		447		366		1,684	1,119
Net Income (Loss) Attributable to Parent, Total	$ 3,244	$ 2,524	$ 2,116	$ 577	$ 287		$ 2,175		$ 2,609		$ 2,212		$ 8,461	$ 7,283
Net earnings per common share – basic (in dollars per share)	$ 0.30	$ 0.24	$ 0.20	$ 0.05	$ 0.03		$ 0.21		$ 0.25		$ 0.21		$ 0.79	$ 0.70
Weighted average common shares outstanding – basic (in shares)	10,725,662	10,695,867	10,653,268	10,617,271	10,580,431		10,496,188		10,442,916		10,329,449		10,673,017	10,462,246
Net earnings per common share – diluted (in dollars per share)	$ 0.30	$ 0.23	$ 0.20	$ 0.05	$ 0.03		$ 0.20		$ 0.24		$ 0.21		$ 0.78	$ 0.68
Weighted average common shares outstanding – diluted (in shares)	10,928,220	10,864,540	10,814,799	10,842,592	10,836,396		10,792,290		10,764,936		10,525,826		10,862,538	10,729,862

[1] The quarter ended December 31, 2021 includes a recovery of $17 of restructuring and other charges which are discussed in Note 5.

[2] The quarter ended September 30, 2021 includes $51 of restructuring and other charges which are discussed in Note 5.

[3] The quarter ended June 30, 2021 includes $197 of restructuring and other charges which are discussed in Note 5.

[4] The quarter ended March 31, 2021 includes $55 of restructuring and other charges which are discussed in Note 5.