The number of shares issued during the period for bonuses.

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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Face amount or stated value per share of common stock.

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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The cash outflow for cost incurred directly with the issuance of an equity security.

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The cash inflow from the additional capital contribution to the entity.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Number of additional shares authorized for issuance under share-based payment arrangement.

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Net number of share options (or share units) granted during the period.

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Number of shares for which recognition of cost was accelerated for award under share-based payment arrangement.

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Percentage of vesting of award under share-based payment arrangement.

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Per share or per unit amount of equity securities issued.

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Number of shares of capital stock issued (purchased by employees) in connection with an employee stock ownership plan.

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Number of new stock issued during the period.

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Note 8 - Stockholders' Equity and Stock-based Compensation Expense (Details Textual) - USD ($) $ / shares in Units, $ in Thousands			1 Months Ended	3 Months Ended		9 Months Ended
	Apr. 21, 2020	Apr. 01, 2020	Jun. 30, 2020	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019	Dec. 31, 2019
Common Stock, Par or Stated Value Per Share (in dollars per share)				$ 0.001		$ 0.001		$ 0.001
Proceeds from Issuance of Common Stock						$ 28,798
Payments of Stock Issuance Costs						$ 2,303
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares)						600,000
Share-based Payment Arrangement, Expense				$ 1,982	$ 3,178	$ 8,057	$ 7,004
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Net of Forfeitures, Total (in shares)				60,000		60,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total				$ 12,800		$ 12,800
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)						2 years 5 months 23 days
Former CEO [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares)							4,667
Performance Shares [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)				22,423		94,101
Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)				0		421,417
The Amended and Restated 2019 Equity Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares)			600,000
The 2019 Management Bonus Program [Member]
Stock Issued During Period, Shares, Issued for Bonuses (in shares)		209,981
Share-based Payment Arrangement, Expense		$ 2,600
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Tranche 2020 [Member] \| Chief Executive Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage						25.00%
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)						4 years
2004 Employee Stock Purchase Plan [Member]
Stock Issued During Period, Shares, Employee Stock Ownership Plan (in shares)				58,161		528,265
Underwritten Public Offering [Member]
Stock Issued During Period, Shares, New Issues (in shares)	2,742,750
Common Stock, Par or Stated Value Per Share (in dollars per share)	$ 0.001
Shares Issued, Price Per Share (in dollars per share)	$ 10.50
Proceeds from Issuance of Common Stock	$ 26,500
Payments of Stock Issuance Costs	$ 2,100
Underwritten Public Offering [Member] \| Underwriter [Member]
Stock Issued During Period, Shares, New Issues (in shares)	357,750