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Note 13 - Stock-based Compensation (Details Textual)
$ / shares in Units, $ in Thousands
1 Months Ended 12 Months Ended
Jun. 15, 2022
USD ($)
$ / shares
shares
Nov. 17, 2021
$ / shares
shares
Jun. 01, 2020
$ / shares
shares
Aug. 31, 2020
shares
Sep. 30, 2018
shares
Dec. 31, 2022
USD ($)
$ / shares
shares
Dec. 31, 2021
USD ($)
Jul. 10, 2020
shares
Aug. 31, 2018
shares
Oct. 30, 2014
shares
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Exercisable, Weighted Average Remaining Contractual Term (Year)           6 years 8 months 12 days        
Share-Based Payment Arrangement, Expensed and Capitalized, Amount, Total | $           $ 125        
Capitalized Software [Member]                    
Share-Based Payment Arrangement, Amount Capitalized | $           $ 15        
Reverse Stock Split [Member]                    
Stockholders' Equity Note, Stock Split, Conversion Ratio       3 30          
Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)     2,000,000 2,000,000 600,000     6,000,000 18,000,000 7,390,355
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)           1,532,242        
Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Employee [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)     526,667              
Share-Based Compensation Arrangements by Share-Based Payment Award, Options,Vested in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares     $ 7.59              
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares     $ 5.61              
Amended and Restated 2006 Equity Incentive Plan [Member] | Share-Based Payment Arrangement, Employee [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)           573,334        
Amended and Restated 2006 Non-employee Director Stock Option Plan [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Authorized (in shares)           233,334        
Equity Incentive Plan 2006 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)           4,002        
Chief Executive Officer [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)     160,000              
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested, Number of Shares, Ending Balance (in shares) 106,667                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares           $ 7.59        
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested Options Forfeited, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares           5.61        
Chief Financial Officer [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)     80,000              
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested, Number of Shares, Ending Balance (in shares) 53,334                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures and Expirations in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares           7.59        
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Nonvested Options Forfeited, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares           $ 5.61        
Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)   85,000                
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares   $ 6.63                
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares   $ 5.23                
Share-Based Payment Arrangement, Option [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Revenue Target | $ $ 38,000                  
Share-Based Compensation Arrangement by Share-Based Payment Award, EBITDA target | $ $ 3,600                  
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Employee [Member] | General and Administrative Expense [Member]                    
Share-Based Payment Arrangement, Expense | $           $ 1,689 $ 1,494      
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Nonemployee [Member] | General and Administrative Expense [Member]                    
Share-Based Payment Arrangement, Expense | $           198 398      
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Payment Arrangement, Expense | $           849        
Share-Based Payment Arrangement, Benefit Recorded From Forfeiture Awards | $           50        
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Employee [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)     10 years              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     3 years              
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Tranche One [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     33.33%              
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Tranche Two [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     33.33%              
Share-Based Payment Arrangement, Option [Member] | Stock Incentive Plan 2014 [Member] | Share-Based Payment Arrangement, Tranche Three [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     33.33%              
Share-Based Payment Arrangement, Option [Member] | Chief Executive Officer [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)     10 years              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     3 years              
Share-Based Payment Arrangement, Option [Member] | Chief Financial Officer [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)     10 years              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period (Year)     3 years              
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year)   10 years                
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] | Vesting Immediately [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage   33.33%                
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] | Vesting at First Anniversary of Grant Date [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage   33.33%                
Share-Based Payment Arrangement, Option [Member] | Non-officer Directors [Member] | Stock Incentive Plan 2014 [Member] | Vesting at Second Anniversary of Grant Date [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage   33.33%                
New Options [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Payment Arrangement, Expense | $           $ 7        
Share-Based Payment Arrangement, Guaranteed Price (in dollars per share) | $ / shares $ 19.20                  
New Options [Member] | Stock Incentive Plan 2014 [Member] | Minimum [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares 0.63                  
New Options [Member] | Stock Incentive Plan 2014 [Member] | Maximum [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | $ / shares $ 1.11                  
New Options [Member] | Chief Executive Officer [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) 10 years                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 333,334                  
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares $ 3.00                  
New Options [Member] | Chief Financial Officer [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period (Year) 10 years                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares) 200,000                  
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) | $ / shares $ 3.00                  
New Options [Member] | Non-executives [Member] | Stock Incentive Plan 2014 [Member]                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross (in shares)           100,000        
Time Vesting Awards [Member] | Share-Based Payment Arrangement, Employee [Member]                    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $           $ 843 $ 1,360      
Time Vesting Awards [Member] | Share-Based Payment Arrangement, Nonemployee [Member]                    
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $           $ 62        
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)           2 years