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Note 12 - Stock Option and Equity Incentive Plans - Future Share-based Compensation Expense (Details)
$ in Thousands
Dec. 31, 2019
USD ($)
2020 $ 1,115
2021 746
2022 409
2023 48
Total 2,318
Employee and Nonemployee Stock Option [Member]  
2020 116
2021
2022
2023
Total 116
Restricted Stock Units (RSUs) [Member]  
2020 999
2021 746
2022 409
2023 48
Total $ 2,202