Note 8 - Commitments and Contingencies - Supplemental Lease Information (Details) - USD ($) $ in Thousands	3 Months Ended
	Mar. 31, 2023	Mar. 31, 2022	Dec. 31, 2022
Right-of-use asset, net and lease liabilities (in thousands)	$ 3,063		$ 3,373
Lease expense	$ 331	$ 317
Weighted average remaining lease term (years) (Year)	3 years		3 years 2 months 12 days
Weighted average discount rate	3.40%		3.40%
Cost of Sales [Member]
Lease expense	$ 183	219
General and Administrative Expense [Member]
Lease expense	108	53
Research and Development Expense [Member]
Lease expense	$ 40	$ 45