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Note 10 - Equity Incentive Plans (Details Textual) - shares
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Dec. 31, 2020
Jun. 03, 2020
Restricted Stock [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period (in shares) 120,808      
Stock Incentive Plan 2010 [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) 1,351,858     6,980,074
Stock Incentive Plan 2010 [Member] | Restricted Stock [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period (in shares) 121,466      
Employee Stock Purchase Plan [Member]        
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)     190  
Common Stock, Capital Shares Reserved for Future Issuance (in shares) 190      
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent 85.00%      
Stock Issued During Period, Shares, Employee Stock Purchase Plans (in shares) 0 0