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Note 18 - Quarterly Financial Information (Unaudited) (Tables)
 12 Months Ended
Dec. 31, 2020
Notes Tables  
Condensed Income Statement [Table Text Block]
   
Condensed Consolidated Statements of Operations
  
   
2020
  
   
Q1
    
Q2
    
Q3
    
Q4
  
   
(in thousands, except per share data)
  
Revenue
   $
16,729
     $
8,924
     $
10,420
     $
11,071
  
Gross profit
    
2,585
      
1,046
      
1,890
      
2,205
  
Loss from operations
    
(439
 )    
(1,075
 )    
(138
 )    
(202
 )
Net loss
    
(474
 )    
(1,073
 )    
(136
 )    
(206
 )
Basic loss per share
    
(0.04
 )    
(0.08
 )    
(0.01
 )    
(0.02
 )
Diluted loss per share
   $
(0.04
 )   $
(0.08
 )   $
(0.01
 )   $
(0.02
 )
Shares used in per share calculations:
                                
Basic
    
13,055
      
13,110
      
13,165
      
13,225
  
Diluted
    
13,055
      
13,110
      
13,165
      
13,225
  
   
2019
  
   
Q1
    
Q2
    
Q3
    
Q4
  
   
(in thousands, except per share data)
  
Revenue
   $
15,096
     $
14,180
     $
14,641
     $
15,366
  
Gross profit
    
2,391
      
2,423
      
2,632
      
2,650
  
Loss from operations
    
(2,879
 )    
(3,929
 )    
(1,129
 )    
(1,377
 )
Net loss
    
(2,846
 )    
(3,868
 )    
(1,107
 )    
(1,360
 )
Basic loss per share
    
(0.22
 )    
(0.30
 )    
(0.09
 )    
(0.10
 )
Diluted loss per share
   $
(0.22
 )   $
(0.30
 )   $
(0.09
 )   $
(0.10
 )
Shares used in per share calculations:
                                
Basic
    
12,795
      
12,855
      
12,934
      
12,997
  
Diluted
    
12,795
      
12,855
      
12,934
      
12,997
  
Condensed Balance Sheet [Table Text Block]
   
Condensed Consolidated Balance Sheets
  
   
2020
  
   
March 31
    
June 30
    
September 30
    
December 31
  
   
(in thousands)
  
Cash, cash equivalents, restricted cash and short-term investments
   $
10,644
     $
12,582
     $
12,572
     $
12,960
  
Total current assets
    
22,002
      
20,245
      
19,062
      
20,002
  
Total assets
    
23,973
      
22,075
      
21,063
      
22,282
  
Total current liabilities
    
12,856
      
11,422
      
10,544
      
11,339
  
Total shareholders' equity
   $
9,401
     $
8,432
     $
8,622
     $
8,651
  
   
2019
  
   
March 31
    
June 30
    
September 30
    
December 31
  
   
(in thousands)
  
Cash, cash equivalents, restricted cash and short-term investments
   $
15,000
     $
12,560
     $
11,610
     $
10,561
  
Total current assets
    
26,428
      
22,897
      
21,442
      
20,515
  
Total assets
    
29,673
      
24,967
      
23,056
      
23,055
  
Total current liabilities
    
12,464
      
11,882
      
11,226
      
11,200
  
Total shareholders' equity
   $
15,673
     $
11,835
     $
10,888
     $
9,696