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Note 2 - Summary of Significant Accounting Policies (Details Textual)
shares in Thousands
12 Months Ended
Jun. 19, 2019
Jan. 30, 2018
Dec. 31, 2019
USD ($)
shares
Dec. 31, 2018
USD ($)
shares
Apr. 01, 2019
USD ($)
Jan. 01, 2019
USD ($)
Available-for-sale Securities, Accumulated Gross Unrealized Gain (Loss), before Tax, Total     $ 0 $ 0    
Warranty Period     1 year      
Foreign Currency Transaction Gain (Loss), before Tax, Total     $ 11,000 (13,000)    
Unrecognized Tax Benefits, Income Tax Penalties and Interest Expense, Total     $ 0 $ 0    
Weighted Average Number of Shares, Common Stock Subject to Repurchase or Cancellation | shares     0 0    
Number of Reportable Segments     1      
Operating Lease, Right-of-Use Asset     $ 4,856,000 $ 6,000,000  
Other Nonoperating Income (Expense), Total     $ 1,101,000 949,000    
Number of Operating Segments     1      
Operating Lease, Liability, Total     $ 4,857,000   $ 6,000,000  
Accounting Standards Update 2016-02 [Member]            
Operating Lease, Right-of-Use Asset           $ 1,800,000
Other Nonoperating Income (Expense), Total       $ 962,000    
Operating Lease, Liability, Total           $ 1,800,000
Minimum [Member]            
Property, Plant and Equipment, Useful Life     3 years      
Maximum [Member]            
Property, Plant and Equipment, Useful Life     5 years      
Customer Concentration Risk [Member] | Accounts Receivable [Member]            
Number of Major Customers     0 0    
Customer Concentration Risk [Member] | Revenue Benchmark [Member]            
Number of Major Customers     0 0    
Customer Concentration Risk [Member] | Revenue Benchmark [Member] | UNITED STATES            
Concentration Risk, Percentage     93.00% 94.00%    
Reverse Stock Split [Member]            
Stockholders' Equity Note, Stock Split, Conversion Ratio 10 40