Note 11 - Stock-based Compensation Plan - Allocation of Share-based Compensation Expense (Details) - Restricted Stock [Member] - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2023	Sep. 30, 2022	Sep. 30, 2023	Sep. 30, 2022
Share-Based Payment Arrangement, Expense	$ 544	$ 450	$ 1,623	$ 1,373
Cost of Sales [Member]
Share-Based Payment Arrangement, Expense	28	18	76	44
Selling and Marketing Expense [Member]
Share-Based Payment Arrangement, Expense	9	9	30	23
Research and Development Expense [Member]
Share-Based Payment Arrangement, Expense	(1)	6	18	43
General and Administrative Expense [Member]
Share-Based Payment Arrangement, Expense	$ 508	$ 417	$ 1,499	$ 1,263