Note 12 - Income Taxes - Aggregate Changes in the Balance of Gross Unrecognized Tax Benefits (Details) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022
Balance, beginning of year	$ 1,519	$ 1,368
Additions based on tax positions related to the current year	158	151
Balance, end of year	$ 1,677	$ 1,519