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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
 9 Months Ended
Sep. 30, 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
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | shares 14,892
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 43.95
Exercised, shares under options (in shares) | shares (25,993)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 18.24
Outstanding, shares under options (in shares) | shares 94,513
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 30.22
Outstanding, weighted average remaining contractual life (Year) 6 years 3 months 10 days
Outstanding, aggregate intrinsic value | $ $ 1,096
Exercisable, shares under options (in shares) | shares 75,871
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 27.60
Exercisable, weighted average remaining contractual life (Year) 5 years 9 months 21 days
Exercisable, aggregate intrinsic value | $ $ 1,048
Vested and expected to vest, shares under options (in shares) | shares 94,513
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 30.22
Vested and expected to vest, weighted average remaining contractual life (Year) 6 years 3 months 10 days
Vested and expected to vest, aggregate intrinsic value | $ $ 1,096