Note 10 - Leases - Undiscounted Payments Under Non-cancelable Leases (Details) - USD ($) $ in Thousands	Dec. 31, 2022	Dec. 31, 2021
2023, finance leases	$ 315
2023, operating leases	547
2024, finance leases	23
2024, operating leases	227
2025, finance leases	11
2025, operating leases	118
2026, finance leases	10
2027, finance leases	0
Finance leases, total minimum lease payments	359
Operating leases, total minimum lease payments	892
Finance leases, less: Amount representing interest	9
Operating leases, less: Amount representing interest	37
Other Current Liabilities and Other Noncurrent Liabilities [Member]
Present value of minimum finance lease payments	350
Present value of minimum operating lease payments	855	$ 1,313
Other Current Liabilities [Member]
Current portion, finance leases	311
Current portion, operating leases	522	493
Other Noncurrent Liabilities [Member]
Finance leases obligations, net of current portion	39
Operating lease obligations, net of current portion	$ 333	$ 820