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Note 14 - Shareholders' Equity (Details Textual) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
12 Months Ended
Apr. 07, 2022
Dec. 31, 2022
Dec. 31, 2021
Dec. 31, 2020
May 31, 2019
Jun. 30, 2008
Preferred Stock, Shares Authorized (in shares)   2,500 2,500     2,500
Preferred Stock, Par or Stated Value Per Share (in dollars per share)   $ 0.001 $ 0.001     $ 0.001
Common Stock, Shares Authorized (in shares)   50,000 50,000     50,000
Common Stock, Par or Stated Value Per Share (in dollars per share)   $ 0.001 $ 0.001     $ 0.001
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)   51 50 305    
Common Stock [Member]            
Stock Issued During Period, Shares, New Issues (in shares)   3,266        
Common Stock [Member] | Stock Incentive Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)   1,000        
Common Stock [Member] | Equity Distribution Agreement [Member]            
Stock Issued During Period, Shares, New Issues (in shares)   222 0      
Shares Issued, Price Per Share (in dollars per share)   $ 22.42        
Proceeds from Issuance of Common Stock   $ 4,984        
Sale of Common Shares Sales Agent Commission   112        
Payments of Stock Issuance Costs   202        
Common Stock Capital Value Reserved for Future Issuance   $ 1,948        
Common Stock [Member] | Registered Direct Offering [Member]            
Stock Issued During Period, Shares, New Issues (in shares) 2,250          
Shares Issued, Price Per Share (in dollars per share) $ 25.90          
Proceeds from Issuance of Common Stock $ 58,275          
Legal Fees $ 55          
Common Stock [Member] | Maximum [Member]            
Aggregate Offering Price of Common Stock         $ 30,000  
Common Stock [Member] | Maximum [Member] | Stock Incentive Plan [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)   770        
Redeemable Preferred Stock [Member]            
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)   10        
Temporary Equity, Redemption Price Per Share (in dollars per share)   $ 5.00        
Dividends, Preferred Stock, Cash   $ 0        
Undistributed Earnings Attributable to Preferred Stock   $ 0