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Note 9 - Term Loans and Line of Credit Agreements - Summary of Term Loan and Line of Credit Agreements (Details) - USD ($)
$ in Thousands
Sep. 30, 2023
Dec. 31, 2022
Long-term debt, gross $ 32,601  
Less current portion of long-term debt, gross 589 $ 563
Less current portion debt issuance costs (60) (60)
Current portion of long-term debt 529 503
Long-term debt, gross, net of current portion 29,812 30,257
Debt issuance costs, net of current portion (459) (499)
Long-term debt 29,353 29,758
Term Loan Agreement [Member]    
Long-term debt, gross 30,401 30,820
Debt issuance costs (519) (559)
Term Loan Agreement $ 29,882 $ 30,261