Note 11 - Stock-based Compensation - Schedule of Option Activity (Details) - $ / shares	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Balance, options (in shares)	368,596
Balance, options, weighted average exercise price (in dollars per share)	$ 9.26
Balance, options, remaining contractual term (Year)	5 years	5 years 10 months 20 days
Options granted (in shares)	0
Options granted, weighted average exercise price (in dollars per share)	$ 0
Options exercised (in shares)	0
Options exercised, weighted average exercise price (in dollars per share)	$ 0
Options canceled (in shares)	(172,292)
Options canceled, weighted average exercise price (in dollars per share)	$ 9.32
Balance, options (in shares)	196,304	368,596
Balance, options, weighted average exercise price (in dollars per share)	$ 9.21	$ 9.26
Exercisable, options3 (in shares)	196,304
Exercisable, options, weighted average exercise price (in dollars per share)	$ 9.21
Exercisable, options, remaining contractual term (Year)	5 years
Vested and expected to vest, options (in shares)	196,304
Vested and expected to vest, options, , weighted average exercise price (in dollars per share)	$ 9.21
Vested and expected to vest, options, remaining contractual term (Year)	5 years