Note 8 - Commitments and Contingencies - Supplemental Lease Information (Details) - USD ($) $ in Thousands	3 Months Ended		6 Months Ended
	Jun. 30, 2023	Jun. 30, 2022	Jun. 30, 2023	Jun. 30, 2022	Dec. 31, 2022
Right-of-use asset, net and lease liabilities (in thousands)	$ 2,667		$ 2,667		$ 3,373
Lease expense	$ 343	$ 348	$ 674	$ 663
Weighted average remaining lease term (years) (Year)	3 years		3 years		3 years 2 months 12 days
Weighted average discount rate	3.40%		3.40%		3.40%
Cost of Sales [Member]
Lease expense	$ 187	194	$ 370	412
General and Administrative Expense [Member]
Lease expense	115	107	223	158
Research and Development Expense [Member]
Lease expense	$ 41	$ 47	$ 81	$ 93