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Note 6 - Share-based Compensation - Summary of Stock Option Activity (Details) - Employee and Nonemployee Stock Option [Member]
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2020
USD ($)
$ / shares
shares
Outstanding, shares under options (in shares) | shares 105,614
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 25.34
Granted, shares under options (in shares) | shares
Granted, weighted average exercise price (in dollars per share) | $ / shares
Exercised, shares under options (in shares) | shares (19,586)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 21.20
Outstanding, shares under options (in shares) | shares 86,028
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 26.28
Outstanding, weighted average remaining contractual life (Year) 5 years 255 days
Outstanding, aggregate intrinsic value | $ $ 1,025
Exercisable, shares under options (in shares) | shares 65,742
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 23.04
Exercisable, weighted average remaining contractual life (Year) 5 years
Exercisable, aggregate intrinsic value | $ $ 989
Vested and expected to vest, shares under options (in shares) | shares 86,028
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 26.28
Vested and expected to vest, weighted average remaining contractual life (Year) 5 years 255 days
Vested and expected to vest, aggregate intrinsic value | $ $ 1,025