Note 16 - Stock-Based Compensation (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021	Dec. 31, 2020	Jan. 01, 2023	Jul. 01, 2022
Expected life	10 years
Minimum
Vesting period	3 years
Maximum
Vesting period	7 years
2010 Equity Incentive Plan
Shares of common stock authorized	350,000
The 2013 Equity Incentive Plan
Shares of common stock authorized	350,000
The 2016 Equity Incentive Plan
Shares of common stock authorized	400,000
Remaining shares of common stock available for grant	100,271
Employee Stock Purchase Plan
Maximum amount any one participant can elect in an offering period	$ 21,250
Maximum amount any one participant can contribute (as a percent)	15.00%	15.00%	15.00%
Stock purchase price percent	85.00%
Purchase Plan 2022
Remaining shares of common stock available for grant				382,765	350,000