Note 10 - Stock Plans - Unrecognized Stock-based Compensation Expense (Details) $ in Thousands	Dec. 31, 2023 USD ($)
Unrecognized stock-based compensation expense	$ 1,729
The 2012 Director Stock Incentive Plan [Member]
Unrecognized stock-based compensation expense	289
The 2012 Omnibus Stock Incentive Plan [Member]
Unrecognized stock-based compensation expense	306
The 2022 Omnibus Stock Incentive Plan [Member]
Unrecognized stock-based compensation expense	$ 1,134