Unaudited Condensed Consolidated Balance Sheets (Parentheticals) - USD ($) $ in Thousands	Mar. 31, 2023	Dec. 31, 2022
Accounts receivable, allowance for doubtful accounts	$ 956	$ 739
Preferred stock, par value (in dollars per share)	$ 0.001	$ 0.001
Preferred stock, shares authorized (in shares)	1,000,000	1,000,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, authorized (in shares)	150,000,000	150,000,000
Common stock, issued (in shares)	43,289,969	42,832,231
Common stock, outstanding (in shares)	43,289,969	42,832,231
Series A Preferred Stock [Member]
Preferred stock, shares designated (in shares)	4,250	4,250
Preferred stock, issued (in shares)	0	0
Preferred stock, outstanding (in shares)	0	0