Note 9 - Term Loans and Line of Credit Agreements - Summary of Term Loan and Line of Credit Agreements (Details) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Long-term debt, gross	$ 32,882
Less current portion of long-term debt, gross	571	$ 563
Less current portion debt issuance costs	(60)	(60)
Current portion of long-term debt	511	503
Long-term debt, gross, net of current portion	30,111	30,257
Debt issuance costs, net of current portion	(489)	(499)
Long-term debt	29,622	29,758
Term Loan Agreement [Member]
Long-term debt, gross	30,682	30,820
Debt issuance costs	(549)	(559)
Term Loan Agreement	$ 30,133	$ 30,261