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Note 12 - Stock Option and Equity Incentive Plans - Summary of Stock Option Activity (Details) - Employee and Nonemployee Stock Option [Member] - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Outstanding, shares under options (in shares) 105,614
Outstanding, weighted average exercise price (in dollars per share) $ 25.34
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) 14,892
Granted, weighted average exercise price (in dollars per share) $ 43.95
Exercised, shares under options (in shares) (25,993)
Exercised, weighted average exercise price (in dollars per share) $ 18.24
Outstanding, shares under options (in shares) 94,513
Outstanding, weighted average exercise price (in dollars per share) $ 30.22
Outstanding, weighted average remaining contractual life (Year) 6 years 10 days
Outstanding, aggregate intrinsic value $ 1,548
Exercisable, shares under options (in shares) 79,621
Exercisable, weighted average exercise price (in dollars per share) $ 27.66
Exercisable, weighted average remaining contractual life (Year) 5 years 4 months 20 days
Exercisable, aggregate intrinsic value $ 1,508
Vested and expected to vest, shares under options (in shares) 94,513
Vested and expected to vest, weighted average exercise price (in dollars per share) $ 30.22
Vested and expected to vest, weighted average remaining contractual life (Year) 6 years 10 days
Vested and expected to vest, aggregate intrinsic value $ 1,548