Note 15 - Stock Plans - Summary of RSU Activity (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Restricted stock units outstanding (in shares)	66,312	98,943
Outstanding, weighted average grant date fair value (in dollars per share)	$ 9.06	$ 4.51
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period	0	34,755	366,356
Granted, weighted average grant date fair value (in dollars per share)		$ 13.30
Restricted stock units vested (in shares)	(36,847)	(67,386)
Vested, weighted average grant date fair value (in dollars per share)	$ 5.68	$ 4.56
Restricted stock units forfeited or cancelled (in shares)	(11,817)
Forfeited or cancelled, weighted average grant date fair value (in dollars per share)	$ 13.30
Restricted stock units outstanding (in shares)	17,648	66,312	98,943
Outstanding, weighted average grant date fair value (in dollars per share)	$ 13.30	$ 9.06	$ 4.51

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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Weighted average fair value as of the grant date of equity-based award plans other than stock (unit) option plans that were not exercised or put into effect as a result of the occurrence of a terminating event.

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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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The weighted average fair value at grant date for nonvested equity-based awards issued 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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The number of non-vested equity-based payment instruments, excluding stock (or unit) options, that validly exist and are outstanding as of the balance sheet date.

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Per share or unit weighted-average fair value of nonvested award under share-based payment arrangement. Excludes share and unit options.

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The number of equity-based payment instruments, excluding stock (or unit) options, that vested during the reporting period.

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The weighted average fair value as of grant date pertaining to an equity-based award plan other than a stock (or unit) option plan for which the grantee gained the right during the reporting period, by satisfying service and performance requirements, to receive or retain shares or units, other instruments, or cash in accordance with the terms of the arrangement.

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