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Note 13 - Income Taxes (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
Deferred Tax Assets, Valuation Allowance, Total $ 0 $ 121,000  
Unrecognized Tax Benefits that Would Impact Effective Tax Rate 3,300,000 3,000,000.0  
Unrecognized Tax Benefits, Interest on Income Taxes Expense 6,150 5,220 $ (27,450)
Unrecognized Tax Benefits, Income Tax Penalties Accrued 0    
Unrecognized Tax Benefits, Interest on Income Taxes Accrued 150,000 $ 144,000 $ 139,000
Undistributed Earnings of Foreign Subsidiaries $ 7,000,000.0    
Effective Income Tax Rate Reconciliation, Dividend Received Deduction, Percent 100.00%    
State and Local Jurisdiction [Member]      
Operating Loss Carryforwards, Total $ 22,800,000    
Deferred Tax Assets, Operating Loss Carryforwards, Total $ 1,100,000    
Open Tax Year 2017 2018 2019 2020    
State and Local Jurisdiction [Member] | Deferred Tax Assets Related to Operating Loss Carryforwards [Member]      
Deferred Tax Assets, Valuation Allowance, Total $ 121,000    
Domestic Tax Authority [Member]      
Open Tax Year 2017 2018 2019 2020