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Note 9 - Term Loans and Line of Credit Agreements - Summary of Term Loan and Line of Credit Agreements (Details) - USD ($)
$ in Thousands
Dec. 31, 2022
Dec. 31, 2021
Long-term debt, gross $ 32,370  
Less current portion of long-term debt, gross 563 $ 1,168
Less current portion debt issuance costs (60) (42)
Current portion of long-term debt 503 1,126
Long-term debt, gross, net of current portion 30,257 19,665
Debt issuance costs, net of current portion (499) (289)
Long-term debt 29,758 19,376
Term Loan Agreement [Member]    
Long-term debt, gross 30,820 20,833
Debt issuance costs (559) (331)
2022 Term Loan Agreement $ 30,261 $ 20,502