Note 14 - Stockholders' Equity - Stockholders' Equity Transactions (Details) - USD ($) $ in Thousands	3 Months Ended		9 Months Ended
	Sep. 30, 2022	Sep. 30, 2021	Sep. 30, 2022	Sep. 30, 2021
Balances	$ 113,500		$ 115,092
Exercise of stock options (in shares)	14,142	46,803	26,709	120,828
Exercise of stock options	$ 237		$ 808
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration	0		0
Stock-based compensation	1,569		4,396
Net income	(7,981)	$ 1,375	(14,126)	$ 5,331
Other comprehensive income (loss)	(1,774)	$ (1,385)	(619)	$ (2,624)
Balances	$ 105,551		$ 105,551
Common Stock [Member]
Balances (in shares)	10,768,747		10,747,417
Balances	$ 30,193		$ 28,515
Exercise of stock options (in shares)	14,142		26,709
Exercise of stock options	$ 354		$ 1,187
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (in shares)	(1,193)		(3,053)
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration	$ 0		$ 0
Stock-based compensation (in shares)	8,934		19,557
Stock-based compensation	$ 488		$ 1,333
Other comprehensive income (loss)	$ 0		$ 0
Balances (in shares)	10,790,630		10,790,630
Balances	$ 31,035		$ 31,035
Additional Paid-in Capital [Member]
Balances	4,484		2,764
Exercise of stock options	(117)		(379)
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration	0		0
Stock-based compensation	1,081		3,063
Other comprehensive income (loss)	0		0
Balances	5,448		5,448
Retained Earnings [Member]
Balances	77,325		83,470
Exercise of stock options	0		0
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration	0		0
Stock-based compensation	0		0
Net income	(7,981)		(14,126)
Other comprehensive income (loss)	0		0
Balances	69,344		69,344
AOCI Attributable to Parent [Member]
Balances	1,498		343
Exercise of stock options	0		0
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration	0		0
Stock-based compensation	0		0
Other comprehensive income (loss)	(1,774)		(619)
Balances	$ (276)		$ (276)