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Note 7 - Stock-based Compensation - Stock Incentive Plan Activities (Details) - Incentive Plan [Member] - $ / shares shares in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Awards available, beginning balance (in shares)	805	468	2,273
Options outstanding, beginning balance (in shares)	17,491	14,452	12,095
Weighted average exercise price, beginning balance (in dollars per share)			$ 6.55
Awards available, plan amendment (in shares)	4,000	4,400	1,000
Awards available, Restricted stock awards granted (in shares)	(27)	(13)	(22)
Awards available, Restricted stock awards cancelled (in shares)			12
Awards available, stock option awards granted (in shares)	(4,511)	(4,272)	(3,915)
Options outstanding, stock option awards granted (in shares)	4,511	4,272	3,915
Weighted average exercise price, stock option awards granted (in dollars per share)	$ 3.91	$ 7.15	$ 5.33
Options outstanding, stock option awards exercised (in shares)	(251)	(1,011)	(438)
Weighted average exercise price, stock option awards exercised (in dollars per share)	$ 3.75	$ 2.92	$ 3.50
Awards available, stock option awards cancelled (in shares)	701	222	1,120
Options outstanding, stock option awards cancelled (in shares)	(701)	(222)	(1,120)
Weighted average exercise price, stock option awards cancelled (in dollars per share)	$ 6.82	$ 7.44	$ 9.72
Awards available, ending balance (in shares)	968	805	468
Options outstanding, ending balance (in shares)	21,050	17,491	14,452
Weighted average exercise price, ending balance (in dollars per share)	$ 5.96	$ 6.49	$ 6.06

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The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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Number of additional shares authorized for issuance under share-based payment arrangement.

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The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Weighted average price of options that were either forfeited or expired.

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