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Note 3 - Stock-based Compensation and Shareholders' Equity (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended 6 Months Ended 9 Months Ended 63 Months Ended
Sep. 30, 2020
Sep. 30, 2019
Jun. 30, 2020
Sep. 30, 2020
Sep. 30, 2019
Jun. 30, 2020
Dec. 31, 2019
Dec. 31, 2018
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]                
Allocated share-based compensation expense $ 24 $ 24   $ 81 $ 84      
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized $ 104     $ 104        
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized, period for recognition       29 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, forfeitures in period         1,500      
Share-based compensation arrangement by share-based payment award, options, exercises in period       9,550 8,775      
Share-based compensation arrangement by share-based payment award, options, outstanding, number 118,800 109,500   118,800 109,500   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       6 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