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Present value of lessee's discounted obligation for lease payments from operating lease, classified as current.

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The aggregate costs incurred (1) in a planned search or critical investigation aimed at discovery of new knowledge with the hope that such knowledge will be useful in developing a new product or service, a new process or technique, or in bringing about a significant improvement to an existing product or process; or (2) to translate research findings or other knowledge into a plan or design for a new product or process or for a significant improvement to an existing product or process whether intended for sale or the entity's use, during the reporting period charged to research and development projects, including the costs of developing computer software up to the point in time of achieving technological feasibility, and costs allocated in accounting for a business combination to in-process projects deemed to have no alternative future use.

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Note 1 - Summary of Significant Accounting Policies (Details Textual) $ in Thousands		1 Months Ended	12 Months Ended			139 Months Ended	211 Months Ended
	Jun. 03, 2009	Jun. 30, 2003	Dec. 31, 2020 USD ($) shares	Dec. 31, 2019 USD ($) shares	Dec. 31, 2018 USD ($) shares	Dec. 31, 2020 USD ($) shares	Dec. 31, 2020 USD ($) shares
Number of Operating Segments			1
Number of Reportable Segments			1
Cash Equivalents, at Carrying Value, Total \| $			$ 0	$ 0		$ 0	$ 0
Cash, Uninsured Amount \| $			26,100			26,100	26,100
Business Acquisition, Goodwill, Expected Tax Deductible Amount \| $			$ 48,300			48,300	48,300
Treasury Stock, Shares, Acquired (in shares)			0	0	0
Research and Development Expense, Total \| $			$ 8,200	$ 8,800	$ 10,500
Operating Lease, Liability, Current \| $			1,154	1,150		1,154	1,154
Operating Lease, Liability, Noncurrent \| $			$ 950	1,940		$ 950	$ 950
Revision of Prior Period, Adjustment [Member]
Operating Lease, Liability, Current \| $				476
Operating Lease, Liability, Noncurrent \| $				$ (476)
The 2003 Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares)							1,275,035
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)							185,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)			10,000			10,000	10,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)			800,834			800,834	800,834
The 2003 Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)		5 years
The 2003 Incentive Plan [Member] \| Restricted Stock [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period (in shares)							0
The 2003 Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Common Stock, Capital Shares Reserved for Future Issuance (in shares)			88,412			88,412	88,412
Nonemployee Director Stock Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)						379,918
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)			84,513			84,513	84,513
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)			59,980			59,980	59,980
Nonemployee Director Stock Incentive Plan [Member] \| Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year)	10 years
Nonemployee Director Stock Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Common Stock, Capital Shares Reserved for Future Issuance (in shares)			4,776			4,776	4,776
Minimum [Member]
Finite-Lived Intangible Asset, Useful Life (Year)			5 years
Maximum [Member]
Finite-Lived Intangible Asset, Useful Life (Year)			20 years