Note 10 - Stock-based Compensation Plan (Tables)

6 Months Ended

Jun. 30, 2023

Notes Tables

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

	Three Months Ended June 30,				Six Months Ended June 30,
	2023		2022		2023		2022
Cost of revenues	$	29	$	15	$	48	$	26
Selling expense		11		7		21		14
Engineering and product development expense		9		18		19		37
General and administrative expense		556		511		991		846
	$	605	$	551	$	1,079	$	923

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

	2023			2022
Risk-free interest rate		3.93	%		2.05	%
Dividend yield		0.00	%		0.00	%
Expected common stock market price volatility factor		.57			.55
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, 2023 (167,886 exercisable)		580,419			8.91
Granted		93,860			16.25
Exercised		(111,800	)		8.05
Canceled		(23,859	)		9.09
Options outstanding, June 30, 2023 (187,981 exercisable)		538,620			10.36

Nonvested Restricted Stock Shares Activity [Table Text Block]

	Number of Shares			Weighted Average Grant Date Fair Value
Unvested shares outstanding, January 1, 2023		288,450			7.80
Granted		97,461			16.43
Vested		(57,559	)		10.99
Forfeited		(13,271	)		9.88
Unvested shares outstanding, June 30, 2023		315,081			9.72