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