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Note 6 - Share-based Compensation (Details Textual) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Dec. 31, 2020
Proceeds from Stock Options Exercised $ 142,000 $ 1,100,000 $ 304,000 $ 1,592,000  
Common Stock Options [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)     101,091 70,471  
Share-based Payment Arrangement, Option [Member]          
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total 1,400,000   $ 1,400,000    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     2 years 3 months 21 days    
Share-based Payment Arrangement, Option [Member] | Direct Fixed and Selling, General and Administrative Expense [Member]          
Share-based Payment Arrangement, Expense 99,000 237,000 $ 285,000 $ 736,000  
Nonvested [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     5 years    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total 463,000   $ 463,000    
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)     4 years 3 months    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period (in shares)     6,005    
Nonvested [Member] | Direct Fixed and Selling, General and Administrative Expense [Member]          
Share-based Payment Arrangement, Expense $ 27,000 $ 37,000 $ (10,000) $ 12,000  
Common Stock [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period (in shares)     6,005    
Director Plan 2004 [Member] | Nonqualified Stock Options [Member] | Director [Member]          
Share Based Compensation, Arrangement By Share Based Payment Award, Options Grant, Amount     $ 100,000   $ 100,000
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year)     1 year    
Director Plan 2004 [Member] | Nonqualified Stock Options [Member] | Director [Member] | Maximum [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)     10 years    
Director Plan 2004 [Member] | Nonqualified Stock Options [Member] | Director [Member] | Minimum [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)     3 years    
Director Plan 2004 [Member] | Common Stock [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) 3,000,000   3,000,000    
The 2006 Equity Incentive Plan [Member] | Maximum [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)     10 years    
The 2006 Equity Incentive Plan [Member] | Minimum [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)     5 years    
The 2006 Equity Incentive Plan [Member] | Nonvested [Member]          
Stock Issued During Period, Shares, Restricted Stock Award, Gross (in shares)     12,698 0  
Share-based Compensation Arrangement by Share-based Payment Award, Nonvested Restricted Stock, Outstanding Number (in shares) 12,698   12,698    
The 2006 Equity Incentive Plan [Member] | Common Stock [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized (in shares) 1,800,000   1,800,000