Note 17 - Quarterly Financial Information (Unaudited) - Condensed Balance Sheet (Details) - USD ($) $ in Thousands	Dec. 31, 2021	Sep. 30, 2021	Jun. 30, 2021	Mar. 31, 2021	Dec. 31, 2020	Sep. 30, 2020	Jun. 30, 2020	Mar. 31, 2020	Dec. 31, 2019
Cash, cash equivalents and restricted cash	$ 40,086	$ 41,367	$ 9,229	$ 10,365
Total current assets	45,410	47,954	16,336	16,878	$ 20,002
Total assets	47,758	50,343	18,755	19,310	22,282
Total current liabilities	7,076	8,830	8,082	9,771	11,262
Total shareholders' equity	$ 39,125	$ 39,836	$ 8,886	$ 7,963	8,728				$ 9,773
Previously Reported [Member]
Cash, cash equivalents and restricted cash					12,960	$ 12,572	$ 12,582	$ 10,644
Total current assets					20,002	19,062	20,245	22,002
Total assets					22,282	21,063	22,075	23,973
Total current liabilities					11,339	10,544	11,422	12,856
Total shareholders' equity					$ 8,651	$ 8,622	$ 8,432	$ 9,401