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Note 14 - Equity | 6 Months Ended
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Jun. 30, 2020
Notes to Financial Statements |
Stockholders' Equity Note Disclosure [Text Block] | 14. Equity The tables below present changes in stockholders' equity for the three and six months ended June 30, 2020 and 2019.
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Equity |
Balances at March 31, 2020 |  |  | 81,047,424 |  |  | $ | 8,105 |  |  | $ | 221,057,307 |  |  | $ | (132,923,290 | ) |  | $ | — |  |  | $ | 88,142,122 |
Net income |  |  |  |  |  |  | — |  |  |  | — |  |  |  | 20,890,158 |  |  |  | — |  |  |  | 20,890,158 |
Repurchase of common stock |  |  | (2,548,681 | ) |  |  | (255 | ) |  |  | — |  |  |  | (15,222,540 | ) |  |  | — |  |  |  | (15,222,795 | )
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | — |  |  |  | — |  |  |  | — |  |  |  | — |  |  |  | — |  |  |  | — |
Issuance of common stock upon vesting of RSUs |  |  | 120,000 |  |  |  | 12 |  |  |  | (12 | ) |  |  | — |  |  |  | — |  |  |  | — |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 323,533 |  |  |  | — |  |  |  | — |  |  |  | 323,533 |
Balances at June 30, 2020 |  |  | 78,618,743 |  |  | $ | 7,862 |  |  | $ | 221,380,828 |  |  | $ | (127,255,672 | ) |  | $ | — |  |  | $ | 94,133,018 |
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Equity |
Balances at December 31, 2019 |  |  | 81,269,868 |  |  | $ | 8,127 |  |  | $ | 220,808,037 |  |  | $ | (123,032,408 | ) |  | $ | — |  |  | $ | 97,783,756 |
Net income |  |  | — |  |  |  | — |  |  |  | — |  |  |  | 11,992,629 |  |  |  | — |  |  |  | 11,992,629 |
Repurchase of common stock |  |  | (2,773,775 | ) |  |  | (277 | ) |  |  | — |  |  |  | (16,215,893 | ) |  |  | — |  |  |  | (16,216,170 | )
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | (1,892 | ) |  |  | — |  |  |  | (9,746 | ) |  |  | — |  |  |  | — |  |  |  | (9,746 | )
Issuance of common stock upon vesting of RSUs |  |  | 124,542 |  |  |  | 12 |  |  |  | (12 | ) |  |  | — |  |  |  | — |  |  |  | - |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 582,549 |  |  |  | — |  |  |  | — |  |  |  | 582,549 |
Balances at June 30, 2020 |  |  | 78,618,743 |  |  | $ | 7,862 |  |  | $ | 221,380,828 |  |  | $ | (127,255,672 | ) |  | $ | — |  |  | $ | 94,133,018 |
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Equity |
Balances at March 31, 2019 |  |  | 80,941,524 |  |  | $ | 8,094 |  |  | $ | 220,222,959 |  |  | $ | (114,161,484 | ) |  | $ | — |  |  | $ | 106,069,569 |
Net loss |  |  | — |  |  |  | — |  |  |  | — |  |  |  | (3,162,492 | ) |  |  | — |  |  |  | (3,162,492 | )
Issuance of common stock upon vesting of RSUs |  |  | 105,000 |  |  |  | 11 |  |  |  | (11 | ) |  |  | — |  |  |  | — |  |  |  | — |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 547,390 |  |  |  | — |  |  |  | — |  |  |  | 547,390 |
Balances at June 30, 2019 |  | $ | 81,046,524 |  |  | $ | 8,105 |  |  | $ | 220,770,338 |  |  | $ | (117,323,976 | ) |  | $ | — |  |  | $ | 103,454,467 |
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Deficiency |
Balances at December 31, 2018 |  |  | 80,763,350 |  |  | $ | 8,076 |  |  | $ | 218,697,872 |  |  | $ | (115,791,261 | ) |  | $ | — |  |  | $ | 102,914,687 |
Net loss |  |  | — |  |  |  | — |  |  |  | — |  |  |  | (1,532,715 | ) |  |  | — |  |  |  | (1,532,715 | )
Issuance of common stock upon exercise of stock options |  |  | 9,769 |  |  |  | 1 |  |  |  | (1 | ) |  |  | — |  |  |  | — |  |  |  | — |
Issuance of common stock upon vesting of RSUs and exercise of stock-settled appreciation rights |  |  | 121,771 |  |  |  | 13 |  |  |  | (13 | ) |  |  | — |  |  |  | — |  |  |  | — |
Issuance of common stock upon exercise of warrants |  |  | 159,782 |  |  |  | 16 |  |  |  | 1,172,785 |  |  |  | — |  |  |  | — |  |  |  | 1,172,801 |
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | (8,148 | ) |  |  | (1 | ) |  |  | (56,589 | ) |  |  | — |  |  |  | — |  |  |  | (56,590 | )
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 956,284 |  |  |  | — |  |  |  | — |  |  |  | 956,284 |
Balances at June 30, 2019 |  |  | 81,046,524 |  |  | $ | 8,105 |  |  | $ | 220,770,338 |  |  | $ | (117,323,976 | ) |  | $ | — |  |  | $ | 103,454,467 |
On March 5, 2020, the Company announced that the board of directors had authorized a share repurchase program under which the Company may repurchase, from time to time, up to an aggregate of $50 million of the Company's common stock through December 31, 2021. The timing and actual number of shares repurchased will depend on a variety of factors, including: exercise of procurement options under government contracts; alternative opportunities for strategic uses of cash; the stock price of the Company’s common stock; market conditions; and other corporate liquidity requirements and priorities. Repurchases under the program may be made from time to time at the Company’s discretion in open market transactions, through block trades, in privately negotiated transactions, and pursuant to any trading plan that may be adopted by the Company’s management in accordance with Rule 10b5-1 of the Securities Exchange Act of 1934, as amended, or otherwise. During the three and six months ended June 30, 2020, the Company repurchased 2.5 million, and 2.8 million shares of common stock, respectively, for approximately $15.2 million, and $16.2 million, respectively.

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