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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
Jun. 30, 2021
Mar. 31, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Share Based Compensation Arrangement By Share Based Payment Award [Line Items]              
Allocated share-based compensation expense $ 43   $ 32 $ 63 $ 57    
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized $ 123     $ 123      
Employee service share-based compensation, nonvested awards, compensation cost not yet recognized, period for recognition   26 months          
Share-based compensation arrangement by share-based payment award, options, grants in period, gross       25,000 25,000    
Share-based compensation arrangement by share-based payment award, options, forfeitures in period       3,125      
Share-based compensation arrangement by share-based payment award, options, exercises in period       19,025 9,550    
Share-based compensation arrangement by share-based payment award, options, outstanding, number 119,400   118,800 119,400 118,800 116,550 103,350
Share-based compensation arrangement by share-based payment award, options, grants in period, weighted average grant date fair value       $ 3.08 $ 2.42    
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       148,200      
Share-based compensation arrangement by share-based payment award, options, forfeitures in period       12,300      
Share-based compensation arrangement by share-based payment award, options, exercises in period       20,825      
Share-based compensation arrangement by share-based payment award, options, outstanding, number 119,400     119,400      
Employee Stock Option [Member] | The 2015 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