Note 8 - Stock-based Compensation Expense - Changes in Restricted Stock Units (Details) - $ / shares	12 Months Ended
Dec. 31, 2023	Dec. 31, 2022
Vested (in shares)	(116,000)
Restricted Stock Units (RSUs) [Member]
Outstanding (in shares)	6,000	10,000
Outstanding, grant date weighted average fair value (in dollars per share)	$ 2.33	$ 2.57
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)	146,000	131,000
Granted, grant date weighted average fair value (in dollars per share)	$ 2.97	$ 2.4
Vested (in shares)	(119,000)	(132,000)
Vested, grant date weighted average fair value (in dollars per share)	$ 2.94	$ 2.4
Forfeited (in shares)		(3,000)
Forfeited, grant date weighted average fair value (in dollars per share)		$ 2.92
Outstanding (in shares)	33,000	6,000
Outstanding, grant date weighted average fair value (in dollars per share)	$ 2.88	$ 2.33

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The weighted average fair value at grant date for nonvested equity-based awards issued during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Topic 718
-SubTopic 10
-Name Accounting Standards Codification
-Section 50
-Paragraph 2
-Subparagraph (c)(2)(i)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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-Topic 718
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-Section 50
-Paragraph 2
-Subparagraph (c)(2)(ii)
-Publisher FASB
-URI https://asc.fasb.org//1943274/2147480429/718-10-50-2

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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Number of equity instruments other than options outstanding, including both vested and non-vested instruments.

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