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Note 6 - Shareholders' Equity - Common Stock Reserved for Future Issuance (Details) - shares
Sep. 30, 2022
Dec. 31, 2021
Stock options outstanding (in shares) 1,559,197 1,664,014
Stock options and restricted stock units available for future grant (in shares) 926,051  
Common stock reserved for future issuance (in shares) 2,968,162  
Restricted Stock Units and Performance Stock Units [Member]    
Restricted stock units and performance stock units outstanding (in shares) 482,914