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

Three Months Ended September 30,

  

Nine Months Ended September 30,

 
  

2023

  

2022

  

2023

  

2022

 

Stock options

  968,165   1,248,513   1,085,977   1,158,220 

Restricted stock units

  82,380   76,036   45,656   36,826