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Note 11 - Shareholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Stock options outstanding (in shares) 1,664,014 1,786,891 1,544,826
Stock options available for future grant (in shares) 1,095,772    
Common stock reserved for future issuance (in shares) 3,294,400    
Restricted Stock Units (RSUs) [Member]      
Stock units outstanding (in shares) 34,614 164,697 112,846
Performance Stock Units [Member]      
Stock units outstanding (in shares) 500,000