Note 10 - Stock-based Compensation Plan - Allocation of Share-based Compensation Expense (Details) - Restricted Stock [Member] - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022
Share-Based Payment Arrangement, Expense	$ 605	$ 551	$ 1,079	$ 923
Cost of Sales [Member]
Share-Based Payment Arrangement, Expense	29	15	48	26
Selling and Marketing Expense [Member]
Share-Based Payment Arrangement, Expense	11	7	21	14
Research and Development Expense [Member]
Share-Based Payment Arrangement, Expense	9	18	19	37
General and Administrative Expense [Member]
Share-Based Payment Arrangement, Expense	$ 556	$ 511	$ 991	$ 846