Note 7 - Stock-based Awards - Summary of Shares Granted Under the 2006 Incentive Plan (Details) shares in Thousands	12 Months Ended
	Dec. 31, 2022 $ / shares shares
November 11, 2020 [Member]
Shares granted (in shares) | shares	40
Fair value per share (in dollars per share) | $ / shares	$ 1.13
Shares granted (in shares) | shares	40
Fair value per share (in dollars per share) | $ / shares	$ 1.13
Stock Unit Award [Member] | August 12, 2022 [Member]
Shares granted (in shares) | shares	18
Fair value per share (in dollars per share) | $ / shares	$ 6.65	[1]
Shares granted (in shares) | shares	18
Fair value per share (in dollars per share) | $ / shares	$ 6.65	[1]
Stock Unit Award [Member] | May 20, 2022 [Member]
Shares granted (in shares) | shares	126
Fair value per share (in dollars per share) | $ / shares	$ 6.51	[1]
Shares granted (in shares) | shares	126
Fair value per share (in dollars per share) | $ / shares	$ 6.51	[1]
Stock Unit Award [Member] | April 4, 2022 [Member]
Shares granted (in shares) | shares	2
Fair value per share (in dollars per share) | $ / shares	$ 7.04	[1]
Shares granted (in shares) | shares	2
Fair value per share (in dollars per share) | $ / shares	$ 7.04	[1]
Stock Unit Award [Member] | May 13, 2021 [Member]
Shares granted (in shares) | shares	116
Fair value per share (in dollars per share) | $ / shares	$ 6.55	[1]
Shares granted (in shares) | shares	116
Fair value per share (in dollars per share) | $ / shares	$ 6.55	[1]
Stock Unit Award [Member] | March 16, 2021 [Member]
Shares granted (in shares) | shares	2
Fair value per share (in dollars per share) | $ / shares	$ 7.04	[1]
Shares granted (in shares) | shares	2
Fair value per share (in dollars per share) | $ / shares	$ 7.04	[1]
Stock Unit Award [Member] | January 25, 2021 [Member]
Shares granted (in shares) | shares	2
Fair value per share (in dollars per share) | $ / shares	$ 5.54	[1]
Shares granted (in shares) | shares	2
Fair value per share (in dollars per share) | $ / shares	$ 5.54	[1]
Stock Unit Award [Member] | December 16, 2020 [Member]
Shares granted (in shares) | shares	5
Fair value per share (in dollars per share) | $ / shares	$ 4.71	[1]
Shares granted (in shares) | shares	5
Fair value per share (in dollars per share) | $ / shares	$ 4.71	[1]
Stock Unit Award [Member] | November 11, 2020 [Member]
Shares granted (in shares) | shares	190
Fair value per share (in dollars per share) | $ / shares	$ 4.07
Shares granted (in shares) | shares	190
Fair value per share (in dollars per share) | $ / shares	$ 4.07

[1] The fair value for the SUA’s is the closing price of the Company’s stock on that date. The fair value for options represents the fair value calculated using the Black-Scholes model. Options have contractual lives of 10 years. The options granted on May 3, 2019, have a fair value of $2.99 per share based on the $10.60 grant date and exercise prices and assuming 6.25 and 5.75 year estimated terms, 41% volatility, 2.4% interest rate and a 3.9% dividend yield rate. The options granted on November 11, 2020, have a fair value of $1.13 per share based on the $4.07 grant date and exercise prices and assuming 6.25 and 5.75 year estimated terms, 45% volatility, 0.9% interest rate and a 4.0%dividend yield rate. No options were granted during fiscal year ended December 31, 2021. For options granted during fiscal years ended December 31, 2020, and 2019, the weighted average grant date fair values were $3.47, and $3.40,respectively. For SUAs granted during fiscal years ended December 31, 2021, 2020 and 2019, the weighted average grant date fair values were $6.55, $4.89, and $12.01, respectively.