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Note 3 - Restructuring and Other Charges - Changes in Accrued Restructuring (Details) - USD ($)
$ in Thousands
3 Months Ended 12 Months Ended
Dec. 31, 2020
Sep. 30, 2020
Jun. 30, 2020
Mar. 31, 2020
Sep. 30, 2019
Jun. 30, 2019
Dec. 31, 2020
Dec. 31, 2019
Beginning balance       $ 0     $ 0 $ 0
Restructuring Charges, Total $ 1,078 $ 161 $ 38 $ 8 $ 17 $ 223    
Cash payments             (159) (240)
Balance $ 340           340 0
Ambrell European Operations Consolidation [Member]                
Restructuring Charges, Total               240
Severance and Other One-Time Termination Benefits [Member]                
Restructuring Charges, Total             248 137
Severance and Other One-Time Termination Benefits [Member] | Ambrell European Operations Consolidation [Member]                
Restructuring Charges, Total               137
Facility Closing [Member] | Ambrell European Operations Consolidation [Member]                
Restructuring Charges, Total               $ 103
Subletting Costs of the Fremont CA Facility [Member]                
Restructuring Charges, Total             153  
Subletting Costs of the Mansfield MA Facility [Member]                
Restructuring Charges, Total             $ 98