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Note 9 - Term Loans and Line of Credit Agreements (Tables)
 12 Months Ended
Dec. 31, 2019
Notes Tables  
Schedule of Long-term Debt Instruments [Table Text Block]
   
2019
  
   
Gross Amount
    
Debt Issuance Costs
    
Net Amount
  
New Term Loan Agreement
   $
23,000
     $
(415
 )   $
22,585
  
Less current portion
    
1,057
      
(42
 )    
1,015
  
Long-term debt
   $
21,943
     $
(373
 )   $
21,570
  
   
2018
  
   
Gross Amount
    
Debt Issuance Costs
    
Net Amount
  
2016 Term Loan Agreement
   $
10,898
     $
(153
 )   $
10,745
  
Less current portion
    
597
      
(19
 )    
578
  
Long-term debt
   $
10,301
     $
(134
 )   $
10,167
  
Schedule of Maturities of Long-term Debt [Table Text Block]
2020
   $
1,057
  
2021
    
1,111
  
2022
    
1,167
  
2023
    
1,227
  
2024
    
1,290
  
Thereafter
    
17,148
  
Total
   $
23,000