Note 7 - Net Income (Loss) Per Share - Calculations of Net Income (Loss) Per Share (Details) - USD ($) $ / shares in Units, $ in Thousands	3 Months Ended				6 Months Ended
	Jun. 30, 2023	Mar. 31, 2023	Jun. 30, 2022	Mar. 31, 2022	Jun. 30, 2023	Jun. 30, 2022
Net income (loss)	$ (2,862)	$ (3,484)	$ 483	$ (6,709)	$ (6,346)	$ (6,226)
Basic (in shares)	16,143		16,356		16,108	16,468
Basic (in dollars per share)	$ (0.18)		$ 0.03		$ (0.39)	$ (0.38)
Diluted:
Net income (loss)	$ (2,862)	$ (3,484)	$ 483	$ (6,709)	$ (6,346)	$ (6,226)
Basic (in shares)	16,143		16,356		16,108	16,468
Unvested restricted stock and DSU's (in shares)	0		0		0	0
Employee stock options (in shares)	0		0		0	0
Diluted (in shares)	16,143		16,356		16,108	16,468
Diluted (in dollars per share)	$ (0.18)		$ 0.03		$ (0.39)	$ (0.38)