Consolidated Balance Sheets (Parentheticals) - $ / shares shares in Thousands	Dec. 31, 2023	Dec. 31, 2022
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	2,500	2,500
Preferred stock, shares issued (in shares)	10	10
Preferred stock, shares outstanding (in shares)	10	10
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares authorized (in shares)	50,000	50,000
Common stock, shares issued (in shares)	20,379	20,260
Common stock, shares outstanding (in shares)	20,379	20,260