Note 12 - Net Income Per Share - Weighted Average Number of Shares Used to Compute Net EPS (Details) - shares shares in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Basic (in shares)	7,624	7,564	7,524
Weighted average common equivalent shares due to stock options and restricted stock units (in shares)	77	99	91
Diluted weighted average common shares outstanding during the year (in shares)	7,701	7,663	7,615