Note 7 - Stock-based Awards - Stock Option Activity (Details) - USD ($) $ / shares in Units, shares in Thousands, $ in Thousands	12 Months Ended
	Dec. 31, 2022		Dec. 31, 2021
Outstanding (in shares)	574
Outstanding, weighted average exercise price (in dollars per share)	$ 14.23
Outstanding, weighted average remaining contractual life (Year)	5 years 1 month 6 days		6 years 1 month 6 days
Outstanding, aggregate intrinsic value	$ 25	[1]	$ 100
Exercised (in shares)	(1)
Exercised, weighted average exercise price (in dollars per share)	$ 4.07
Forfeited (in shares)	(1)
Forfeited, weighted average exercise price (in dollars per share)	$ 4.07
Canceled (in shares)	(64)
Canceled (in dollars per share)	$ 15.03
Outstanding (in shares)	508		574
Outstanding, weighted average exercise price (in dollars per share)	$ 14.19		$ 14.23
Exercisable (in shares)	467
Exercisable, weighted average exercise price (in dollars per share)	$ 14.70
Exercisable, weighted average remaining contractual life (Year)	4 years 10 months 24 days
Exercisable, aggregate intrinsic value	$ 14

[1] The aggregate intrinsic value on this table was calculated based on the amount, if any, by which the closing market price of the Company’s stock on December 31 of the applicable year exceeded the exercise price of any of the underlying options, multiplied by the number of shares subject to each such option. The closing stock price as of December 31, 2021, and 2020 was $7.02 and $5.09, respectively.