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Note 9 - Stock-based Compensation Plans and Warrants (Details Textual) - USD ($)
1 Months Ended 3 Months Ended 12 Months Ended 54 Months Ended
Jun. 10, 2014
Dec. 18, 2009
May 31, 2016
Jun. 30, 2014
Dec. 31, 2017
Dec. 31, 2018
Dec. 31, 2017
Jun. 09, 2014
Dec. 31, 2016
Allocated Share-based Compensation Expense, Total     $ 520,000   $ 171,000 $ 473,000 $ 2,304,000    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance         507,500 492,500 [1] 507,500   507,500
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period           0    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross           0 0    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance         $ 11.66 $ 11.66 $ 11.66   $ 11.66
Maximum [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance           12.51      
Minimum [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance           $ 9.88      
Employee Stock Option [Member]                  
Allocated Share-based Compensation Expense, Total           $ 0 $ 0    
Two Thousand Nine Equity Incentive Plan [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 850,000 850,000              
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period       45,235   15,000      
Two Thousand Nine Equity Incentive Plan [Member] | Common Stock [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period               297,265  
Two Thousand Nine Equity Incentive Plan [Member] | Employee Stock Option [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period   10 years              
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period               507,500  
Two Thousand Nine Equity Incentive Plan [Member] | Employee Stock Option [Member] | Maximum [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period   2 years              
Twenty Fourteen Equity Incentive Plan [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 675,000                
Twenty Fourteen Equity Incentive Plan [Member] | Outside Director [Member] | Accrues Yearly [Member]                  
Allocated Share-based Compensation Expense, Total $ 20,000                
Salary and Wage, Officer, Excluding Cost of Good and Service Sold 30,000                
Twenty Fourteen Equity Incentive Plan [Member] | Outside Director [Member] | Accrues Quarterly [Member]                  
Allocated Share-based Compensation Expense, Total 5,000                
Salary and Wage, Officer, Excluding Cost of Good and Service Sold $ 7,500                
Twenty Fourteen Equity Incentive Plan [Member] | Restricted Stock Units (RSUs) [Member] | Senior Management [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 162,500                
Twenty Fourteen Equity Incentive Plan [Member] | Milestone RSUs [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized                 200,000
Allocated Share-based Compensation Expense, Total             $ 1,700,000    
Two Thousand Fourteen Equity Incentive Plan [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized           675,000      
Two Thousand Fourteen Equity Incentive Plan [Member] | Directors, Consultants and Employees [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period           641,668      
Two Thousand Fourteen Equity Incentive Plan [Member] | Director [Member]                  
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period           10,224      
[1] Exercise prices vary from $9.88 to $12.51, and expiration dates vary from January 2020 to December 2021.