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Note 2 - Revenue (Tables)
3 Months Ended
Mar. 31, 2020
Notes Tables  
Disaggregation of Revenue [Table Text Block]
   
Three months ended March 31,
 
(in thousands)
 
2020
   
2019
 
Revenue
     
 
     
 
United States
  $
5,728
    $
5,531
 
Europe and ROW
   
3,123
     
2,762
 
Asia
   
5,060
     
6,496
 
Total revenue
  $
13,911
    $
14,789