Note 9 - Commitments and Contingencies - Supplemental Lease Information (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021	Dec. 31, 2021
Right-of-use asset, net and lease liabilities (in thousands)	$ 3,674		$ 3,674		$ 3,955
Lease expense	$ 335	$ 311	$ 994	$ 886
Weighted average remaining lease term (years) (Year)	3 years 3 months 18 days		3 years 3 months 18 days		3 years 6 months
Weighted average discount rate	3.40%		3.40%		4.10%
Cost of Sales [Member]
Lease expense	$ 183	225	$ 595	667
General and Administrative Expense [Member]
Lease expense	105	76	259	188
Research and Development Expense [Member]
Lease expense	$ 47	$ 10	$ 140	$ 31