Note 12 - Income Taxes - Aggregate Changes in the Balance of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2022	Dec. 31, 2021
Balance, beginning of year	$ 1,368	$ 1,235
Additions based on tax positions related to the current year	151	158
Reductions for tax positions related to prior years	0	(25)
Balance, end of year	$ 1,519	$ 1,368