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Note 1 - Description of Business and Summary of Significant Accounting Policies (Tables)
6 Months Ended
Jun. 30, 2023
Notes Tables  
Schedule of Antidilutive Securities Excluded from Computation of Earnings Per Share [Table Text Block]
  

Three Months Ended June 30,

  

Six Months Ended June 30,

 
  

2023

  

2022

  

2023

  

2022

 

Stock options

  1,076,073   1,066,162   1,145,350   1,038,040 

Restricted stock units

  26,382   10,827   26,872   16,913