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Note 3 - Supplemental Balance Sheet Information - Amortization of Intangible Assets (Details) - USD ($)
$ in Thousands
12 Months Ended
Dec. 31, 2023
Dec. 31, 2022
Amortization of intangible assets $ 889 $ 1,282
Research and Development Expense [Member]    
Amortization of intangible assets 97 97
Selling, General and Administrative Expenses [Member]    
Amortization of intangible assets $ 792 $ 1,185