Note 13 - Stock-based Compensation Plan (Tables)

12 Months Ended

Dec. 31, 2023

Notes Tables

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

	Years Ended December 31,
	2023		2022
Cost of revenues	$	104	$	62
Selling expense		41		32
Engineering and product development expense		19		51
General and administrative expense		1,883		1,642
	$	2,047	$	1,787

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, 2022		408,869		$	9.07
Granted		202,540			8.45
Exercised		(8,060	)		4.74
Canceled		(22,930	)		9.10
Options outstanding, December 31, 2022 (167,886 exercisable)		580,419			8.91
Granted		93,860			16.25
Exercised		(124,550	)		7.85
Canceled		(44,723	)		9.77
Options outstanding, December 31, 2023 (171,735 exercisable)		505,006			10.46

Nonvested Restricted Stock Shares Activity [Table Text Block]

	Number of Shares			Weighted Average Grant Date Fair Value
Unvested shares outstanding, January 1, 2022		262,533		$	7.16
Granted		123,533			9.21
Vested		(91,672	)		8.04
Forfeited		(5,944	)		9.16
Unvested shares outstanding, December 31, 2022		288,450			7.80
Granted		97,461			16.43
Vested		(178,636	)		8.21
Forfeited		(17,491	)		10.08
Unvested shares outstanding, December 31, 2023		189,784			11.51