Note 5 - Goodwill and Intangible Assets - Intangible Assets (Details) - USD ($) $ in Thousands	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018
Gross Carrying Amount	$ 27,490	$ 25,150
Accumulated Amortization	(21,269)	(20,086)
Net Carrying Amount	6,221	5,064
Customer Relationships [Member]
Gross Carrying Amount	7,440	6,740
Accumulated Amortization	(4,935)	(4,514)
Net Carrying Amount	$ 2,505	2,226
Customer Relationships [Member] \| Minimum [Member]
Amortization Period (Year)	1 year
Customer Relationships [Member] \| Maximum [Member]
Amortization Period (Year)	9 years
Developed Technology Rights [Member]
Gross Carrying Amount	$ 17,460	15,820
Accumulated Amortization	(14,101)	(13,404)
Net Carrying Amount	$ 3,359	2,416
Developed Technology Rights [Member] \| Minimum [Member]
Amortization Period (Year)	4 years
Developed Technology Rights [Member] \| Maximum [Member]
Amortization Period (Year)	9 years
Trade Names [Member]
Gross Carrying Amount	$ 790	790
Accumulated Amortization	(673)	(648)
Net Carrying Amount	$ 117	142
Trade Names [Member] \| Minimum [Member]
Amortization Period (Year)	2 years
Trade Names [Member] \| Maximum [Member]
Amortization Period (Year)	7 years
Patents [Member]
Gross Carrying Amount	$ 1,800	1,800
Accumulated Amortization	(1,560)	(1,520)
Net Carrying Amount	$ 240	$ 280
Patents [Member] \| Minimum [Member]
Amortization Period (Year)	7 years
Patents [Member] \| Maximum [Member]
Amortization Period (Year)	10 years

Weighted average amortization period of finite-lived intangible assets acquired either individually or as part of a group of assets, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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-Publisher FASB
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- Definition

Accumulated amount of amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 350
-SubTopic 30
-Section 50
-Paragraph 2
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- Definition

Amount before amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 928
-SubTopic 340
-Section 50
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Amount after amortization of assets, excluding financial assets and goodwill, lacking physical substance with a finite life.

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