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Note 9 - Commitments and Contingencies - Supplemental Lease Information (Details) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2023
Sep. 30, 2022
Sep. 30, 2023
Sep. 30, 2022
Dec. 31, 2022
Right-of-use asset, net and lease liabilities (in thousands) $ 2,342   $ 2,342   $ 3,373
Lease expense $ 331 $ 335 $ 1,005 $ 994  
Weighted average remaining lease term (years) (Year) 2 years 8 months 12 days   2 years 8 months 12 days   3 years 2 months 12 days
Weighted average discount rate 3.40%   3.40%   3.40%
Cost of Sales [Member]          
Lease expense $ 187 183 $ 557 595  
General and Administrative Expense [Member]          
Lease expense 116 105 339 259  
Research and Development Expense [Member]          
Lease expense $ 28 $ 47 $ 109 $ 140