Note 12 - Income Taxes - Reconciliation of Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Unrecognized tax benefits	$ 2,522	$ 4,261	$ 3,276
Gross decreases - tax positions in a prior period	(163)	(2,113)	0
Unrecognized Tax Benefits, Increase Resulting from Current Period Tax Positions	452	374	985
Unrecognized tax benefits	$ 2,811	$ 2,522	$ 4,261