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Note 9 - Stock-based Compensation - Assumptions Used in the Black-Scholes Option Pricing Model (Details) - Share-based Payment Arrangement, Option [Member]
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Risk-free interest rate   1.47%
Expected life (Year) 6 years 3 months 6 years 3 months
Expected volatility   42.40%
Expected dividend yield 0.00% 0.00%
Minimum [Member]    
Risk-free interest rate 0.80%  
Expected volatility 45.28%  
Maximum [Member]    
Risk-free interest rate 0.96%  
Expected volatility 45.35%