Note 11 - Income Taxes - Deferred Tax Assets and Liabilities (Details) - USD ($) $ in Thousands	Dec. 31, 2023	Dec. 31, 2022
Deferred tax assets:
Capitalized research and development costs	$ 2,320	$ 1,260
Operating lease liabilities	859	1,125
Accrued vacation pay and stock-based compensation	433	465
Inventories	395	602
Intangible assets	369	140
Net operating loss (state and foreign)	245	285
Acquisition costs	44	46
Allowance for doubtful accounts	44	43
Accrued warranty	26	54
Tax credit carryforwards	0	89
Other	62	0
Total	4,797	4,109
Valuation allowance	(245)	(227)
Deferred tax assets	4,552	3,882
Deferred tax liabilities:
Intangible assets	(1,949)	(2,101)
Right-of-use assets	(762)	(996)
Depreciation of property and equipment	(404)	(385)
Other	0	(120)
Deferred tax liabilities	(3,115)	(3,602)
Net deferred tax assets	$ 1,437	$ 280