Note 11 - Stock-based Compensation Plan (Tables)

9 Months Ended

Sep. 30, 2023

Notes Tables

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

	Three Months Ended September 30,					Nine Months Ended September 30,
	2023			2022		2023		2022
Cost of revenues	$	28		$	18	$	76	$	44
Selling expense		9			9		30		23
Engineering and product development expense		(1	)		6		18		43
General and administrative expense		508			417		1,499		1,263
	$	544		$	450	$	1,623	$	1,373

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		(124,550	)		7.85
Canceled		(43,426	)		9.82
Options outstanding, September 30, 2023 (173,032 exercisable)		506,303			10.45

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		(169,636	)		7.79
Forfeited		(17,491	)		10.08
Unvested shares outstanding, September 30, 2023		198,784			11.72