Note 16 - Income Taxes - Components of Income Before Taxes and Provision for (Benefit from) Income Taxes (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020
Domestic	$ (19,080)	$ (2,529)	$ (25,722)
Foreign	334	4,956	(2,902)
(Loss) income before income taxes	(18,746)	2,427	(28,624)
Federal	1,005	494	357
State	285	(635)	(1,970)
Foreign	96	167	49
Total current	1,386	26	(1,564)
Federal	(3,243)	(553)	(1,980)
State	(1,256)	(426)	(1,070)
Foreign	(774)	(754)	(28)
Total deferred	(5,273)	(1,733)	(3,078)
Total benefit from income taxes	$ (3,887)	$ (1,707)	$ (4,642)