Note 2 - Revenue 1 (Details Textual) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018
Capitalized Contract Cost, Impairment Loss	$ 0	$ 0
Contract with Customer, Liability, Noncurrent	2,300	1,000
Contract with Customer, Liability, Revenue Recognized	8,800	6,300
Revenue, Remaining Performance Obligation, Amount	51,900
Contract with Customer, Performance Obligation Satisfied in Previous Period	3,200	1,800
Capitalized Contract Cost, Amortization	448	381
Prepaid Expenses and Other Current Assets [Member]
Contract with Customer, Asset, Net, Current, Total	3,600	2,700
Capitalized Contract Cost, Net, Total	400	400
Deferred Costs, Total	300	$ 200
Other Noncurrent Assets [Member]
Capitalized Contract Cost, Net, Total	400
Deferred Costs, Total	$ 200
Geographic Concentration Risk [Member] \| Revenue Benchmark [Member]
Concentration Risk, Percentage	100.00%	100.00%
Geographic Concentration Risk [Member] \| Revenue Benchmark [Member] \| Countries other than the United States [Member]
Concentration Risk, Percentage	58.00%	60.00%

Amount of amortization expense for asset recognized from cost incurred to obtain or fulfill contract with customer.

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Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right is conditioned on something other than passage of time, classified as current.

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Amount of obligation to transfer good or service to customer for which consideration has been received or is receivable, classified as noncurrent.

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Amount of revenue recognized from performance obligation satisfied or partially satisfied in previous reporting periods. Includes, but is not limited to, change in transaction price.

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