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Note 16 - Stock-Based Compensation (Details) - USD ($) $ in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018 | Jan. 01, 2020
Expected life | 10 years |  |  |
Minimum |  |  |  |
Vesting period | 3 years |  |  |
Maximum |  |  |  |
Vesting period | 7 years |  |  |
2010 Equity Incentive Plan [Member] |  |  |  |
Shares of common stock authorized | 350,000 |  |  |
The 2013 Equity Incentive Plan [Member] |  |  |  |
Shares of common stock authorized | 350,000 |  |  |
The 2016 Equity Incentive Plan [Member] |  |  |  |
Shares of common stock authorized | 400,000 |  |  |
Remaining shares of common stock available for grant | 170,833 |  |  |
Employee Stock Purchase Plan |  |  |  |
Remaining shares of common stock available for grant |  |  |  | 89,582
Maximum amount any one participant can elect in an offering period | $ 10 |  |  |
Maximum amount any one participant can contribute (as a percent) | 15.00% | 15.00% | 10.00% |

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- Definition Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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