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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, 2023
Dec. 31, 2022
Long-term debt, gross $ 33,457  
Less current portion of long-term debt, gross 598 $ 563
Less current portion debt issuance costs (60) (60)
Current portion of long-term debt 538 503
Long-term debt, gross, net of current portion 29,659 30,257
Debt issuance costs, net of current portion (439) (499)
Long-term debt 29,220 29,758
Term Loan Agreement [Member]    
Long-term debt, gross 30,257 30,820
Debt issuance costs (499) (559)
Term Loan Agreement $ 29,758 $ 30,261