Annual report pursuant to Section 13 and 15(d)

Note 8 - Stock-based Incentive Plans (Details Textual)

v3.24.1.u1
Note 8 - Stock-based Incentive Plans (Details Textual) - USD ($)
1 Months Ended 12 Months Ended
May 04, 2023
May 01, 2023
Apr. 30, 2023
Jan. 01, 2022
Dec. 31, 2022
Dec. 31, 2023
Dec. 31, 2022
Sep. 30, 2023
Jun. 30, 2022
May 31, 2021
Jul. 31, 2020
Oct. 31, 2018
Jul. 31, 2017
May 31, 2016
Oct. 31, 2014
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value           $ 5.39 $ 23.4                
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Vested in Period, Fair Value $ 722,000         $ 1,078,986 $ 1,726,000                
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount         $ 1,453,000   1,453,000                
Share-Based Payment Arrangement, Expense           $ 2,735,000 $ 4,263,000                
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Forfeitures in Period   29,224 58,951     116,000                  
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Forfeitures in Period, Weighted Average Exercise Price     $ 56.4     $ 83.89                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross   63,900 305,000     388,000                  
Share-Based Compensation Arrangements by Share-Based Payment Award, Options, Grants in Period, Weighted Average Exercise Price   $ 9.81 $ 9.8     $ 9.78                  
Stock Award Sales Program [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent             100.00%                
Common Stock, Capital Shares Reserved for Future Issuance               750,000 312,500 250,000 129,167 91,667 75,000 50,000 29,167
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant           117,000                  
Share-Based Payment Arrangement, Option [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period             10 years                
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition           3 years                  
Share-Based Payment Arrangement, Option [Member] | Share-Based Payment Arrangement, Tranche One [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     33.33%                        
Share-Based Payment Arrangement, Option [Member] | Minimum [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period             2 years                
Share-Based Payment Arrangement, Option [Member] | Minimum [Member] | Share-Based Payment Arrangement, Tranche One [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage   0.00%                          
Share-Based Payment Arrangement, Option [Member] | Maximum [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period             4 years                
Share-Based Payment Arrangement, Option [Member] | Maximum [Member] | Share-Based Payment Arrangement, Tranche One [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage   33.33%                          
Non-statutory Options [Member] | Discretionary Option Grant Program [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent             85.00%                
Incentive Stock Options [Member] | Discretionary Option Grant Program [Member] | Eligible Employees Owns Equal or Less Than 10% of Voting Stock [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Purchase Price of Common Stock, Percent             110.00%                
Restricted Stock Units (RSUs) [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition           1 year                  
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount           $ 743,000                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period           320,000                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value           $ 7.78                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted   103,780                          
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period           71,000                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value           $ 35.95                  
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Tranche Two [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted   62,268                          
Restricted Stock Units (RSUs) [Member] | Share-Based Payment Arrangement, Nonemployee [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount           $ 0                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period           39,000 9,000                
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value           $ 1.67 $ 18.2                
Share-Based Payment Arrangement, Expense           $ 89,000 $ 131,000                
Stock Warrants [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount           0                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value             $ 10                
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Aggregate Intrinsic Value, Vested           $ 249,000 $ 0                
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted           0                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Exercise Price           $ 0                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period     26,100                        
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeitures, Weighted Average Grant Date Fair Value     $ 199.8                        
Stock Warrants [Member] | Share-Based Payment Arrangement, Nonemployee [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Expiration Period         5 years                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value         $ 10                    
Share-Based Payment Arrangement, Expense           $ 228,000 20,000                
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted         25,000                    
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Exercise Price         $ 13.4                    
Original PSUs [Member]                              
Share-Based Payment Arrangement, Expense           299,000 $ 2,142,000                
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted       67,500                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting, Number of Shares Required Vested       13,500                      
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Forfeited in Period     67,500                        
Original PSUs [Member] | Share-Based Payment Arrangement, Tranche One [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price       $ 95                      
Original PSUs [Member] | Share-Based Payment Arrangement, Tranche Two [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price       120                      
Original PSUs [Member] | Share-Based Payment Arrangement, Tranche Three [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price       140                      
Original PSUs [Member] | Share-Based Payment Arrangement, Tranche Four [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price       160                      
Original PSUs [Member] | Share-Based Payment Arrangement, Tranche Five [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price       $ 180                      
Performance Shares [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period     5 years                        
Share-Based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount     $ 540,000                        
Share-Based Payment Arrangement, Expense           351,000                  
Share-Based Compensation Arrangement by Share-Based Payment Award, Non-Option Equity Instruments, Granted     67,500                        
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche One [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price     $ 16                        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     20.00%                        
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche Two [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price     $ 20                        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     20.00%                        
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche Three [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price     $ 24                        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     20.00%                        
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche Four [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price     $ 28                        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     20.00%                        
Performance Shares [Member] | Share-Based Payment Arrangement, Tranche Five [Member]                              
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Requirement, Stock Price     $ 32                        
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage     20.00%                        
Performance Shares [Member] | Minimum [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition     8 months 8 days                        
Performance Shares [Member] | Maximum [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition     1 year 6 months                        
Executive Grant Modifications [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount     $ 235,000                        
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition     3 years                        
Share-Based Payment Arrangement, Expense     $ 112,000                        
Total Compensation Costs, Recognized and Not Yet Recognized     $ 347,000                        
Employee Grant Modifications [Member]                              
Share-Based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount   $ 960,000       $ 348,000                  
Share-Based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition   4 years       4 years                  
Share-Based Payment Arrangement, Expense           $ 101,000                  
Total Compensation Costs, Recognized and Not Yet Recognized           $ 449,000