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Note 3 - Stock-based Compensation and Shareholders' Equity (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 60 Months Ended
Mar. 31, 2020
Mar. 31, 2019
Mar. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Allocated share-based compensation expense $ 25 $ 27      
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized $ 152   $ 152    
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized, period for recognition 35 months        
Share-based compensation arrangement by share-based payment award, options, grants in period, gross 25,000 24,700      
Share-based compensation arrangement by share-based payment award, options, exercises in period 9,550 8,275      
Share-based compensation arrangement by share-based payment award, options, outstanding, number 118,800 111,500 118,800 103,350 95,075
Share-based compensation arrangement by share-based payment award, options, grants in period, weighted average grant date fair value $ 2.42 $ 3.96      
The 2005 Plan [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, number of shares authorized 200,000   200,000    
Share-based compensation arrangement by share-based payment award, options, grants in period, gross 184,200        
Share-based compensation arrangement by share-based payment award, options, forfeitures in period 65,850        
Share-based compensation arrangement by share-based payment award, options, exercises in period 118,350        
Share-based compensation arrangement by share-based payment award, options, outstanding, number 0   0    
The 2015 Plan [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, number of shares authorized 300,000   300,000    
Share-based compensation arrangement by share-based payment award, options, grants in period, gross     123,200    
Share-based compensation arrangement by share-based payment award, options, forfeitures in period     2,600    
Share-based compensation arrangement by share-based payment award, options, exercises in period     1,800    
Share-based compensation arrangement by share-based payment award, options, outstanding, number 118,800   118,800    
Employee Stock Option [Member] | The 2005 Plan [Member]          
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]          
Share-based compensation arrangement by share-based payment award, period options can be exercised after grant date 9 months        
Share-based compensation arrangement by share-based payment award, expiration period 5 years        
Share-based compensation arrangement by share-based payment award, award vesting period 3 years