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Note 10 - Stock-based Compensation (Tables)
12 Months Ended
Dec. 31, 2019
Notes Tables  
Share-based Payment Arrangement, Expensed and Capitalized, Amount [Table Text Block]
   
Year Ended December 31,
 
   
201
9
   
201
8
 
Cost of revenues
  $
169
    $
97
 
Research and development expenses
   
535
     
547
 
Selling, general and administrative expenses
   
1,387
     
2,436
 
    $
2,091
    $
3,080