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Note 12 - Commitments and Contingencies (Details Textual) - USD ($)
$ in Thousands
3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2016
Contractual Obligation, Total $ 713   $ 713    
Estimated Litigation Liability 0   0    
Related Party Technology License Agreement [Member] | Syzygy Licensing LLC [Member]          
Royalty Payments, Percentage of Product Revenue         4.00%
Maximum Royalties to Be Paid Under Agreement         $ 1,000
Royalty Expense $ 65 $ 37 $ 185 $ 90