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Note 12 - Stock Option and Equity Incentive Plans - Summary of Stock Option Activity (Details) - Employee and Nonemployee Stock Option [Member]
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2019
USD ($)
$ / shares
shares
Outstanding, shares under options (in shares) | shares 134,043
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 20.46
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross | shares 16,536
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 38.61
Exercised, shares under options (in shares) | shares (44,965)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 15.68
Outstanding, shares under options (in shares) | shares 105,614
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 25.34
Outstanding, weighted average remaining contractual life (Year) 5 years 255 days
Outstanding, aggregate intrinsic value | $ $ 2,563
Exercisable, shares under options (in shares) | shares 85,328
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 22.62
Exercisable, weighted average remaining contractual life (Year) 5 years 36 days
Exercisable, aggregate intrinsic value | $ $ 2,303
Vested and expected to vest, shares under options (in shares) | shares 105,614
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 25.34
Vested and expected to vest, weighted average remaining contractual life (Year) 5 years 255 days
Vested and expected to vest, aggregate intrinsic value | $ $ 2,563