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Note 14 - Equity | 9 Months Ended
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Sep. 30, 2021
Notes to Financial Statements |
Stockholders' Equity Note Disclosure [Text Block] | 14. Equity The tables below present changes in stockholders' equity for the three and nine months ended September 30, 2021 and 2020.
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Equity |
Balances at June 30, 2021 |  |  | 75,389,417 |  |  | $ | 7,539 |  |  | $ | 225,678,876 |  |  | $ | (108,965,453 | ) |  | $ | — |  |  | $ | 116,720,962 |
Net loss |  |  |  |  |  |  | — |  |  |  | — |  |  |  | (3,113,358 | ) |  |  | — |  |  |  | (3,113,358 | )
Repurchase of common stock |  |  | (1,110,763 | ) |  |  | (111 | ) |  |  | — |  |  |  | (7,134,577 | ) |  |  | — |  |  |  | (7,134,688 | )
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | (25,203 | ) |  |  | (2 | ) |  |  | (160,554 | ) |  |  | — |  |  |  | — |  |  |  | (160,556 | )
Issuance of common stock upon vesting of RSUs |  |  | 53,334 |  |  |  | 5 |  |  |  | (5 | ) |  |  | — |  |  |  | — |  |  |  | — |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 243,502 |  |  |  | — |  |  |  | — |  |  |  | 243,502 |
Balances at September 30, 2021 |  |  | 74,306,785 |  |  | $ | 7,431 |  |  | $ | 225,761,819 |  |  | $ | (119,213,388 | ) |  | $ | — |  |  | $ | 106,555,862 |
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Equity |
Balances at December 31, 2020 |  |  | 77,195,704 |  |  | $ | 7,720 |  |  | $ | 224,978,430 |  |  | $ | (95,192,881 | ) |  | $ | — |  |  | $ | 129,793,269 |
Net loss |  |  | — |  |  |  | — |  |  |  | — |  |  |  | (3,756,262 | ) |  |  | — |  |  |  | (3,756,262 | )
Repurchase of common stock |  |  | (3,024,690 | ) |  |  | (302 | ) |  |  | — |  |  |  | (20,264,245 | ) |  |  | — |  |  |  | (20,264,547 | )
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | (27,105 | ) |  |  | (3 | ) |  |  | (173,915 | ) |  |  | — |  |  |  | — |  |  |  | (173,918 | )
Issuance of common stock upon vesting of RSUs |  |  | 162,876 |  |  |  | 16 |  |  |  | (16 | ) |  |  | — |  |  |  | — |  |  |  | — |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 957,320 |  |  |  | — |  |  |  | — |  |  |  | 957,320 |
Balances at September 30, 2021 |  |  | 74,306,785 |  |  | $ | 7,431 |  |  | $ | 225,761,819 |  |  | $ | (119,213,388 | ) |  | $ | — |  |  | $ | 106,555,862 |
|  | Common Stock |  |  | Additional Paid-in |  |  | Accumulated |  |  | Other Comprehensive |  |  | Total Stockholders' |
|  | Shares |  |  | Amount |  |  | Capital |  |  | Deficit |  |  | Income |  |  | Equity |
Balances at June 30, 2020 |  |  | 78,618,743 |  |  | $ | 7,862 |  |  | $ | 221,380,828 |  |  | $ | (127,255,672 | ) |  | $ | — |  |  | $ | 94,133,018 |
Net income |  |  | — |  |  |  | — |  |  |  | — |  |  |  | 24,187,957 |  |  |  | — |  |  |  | 24,187,957 |
Repurchase of common stock |  |  | (886,472 | ) |  |  | (89 | ) |  |  | — |  |  |  | (5,567,032 | ) |  |  | — |  |  |  | (5,567,121 | )
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | (27,143 | ) |  |  | (3 | ) |  |  | (174,260 | ) |  |  | — |  |  |  | — |  |  |  | (174,263 | )
Issuance of common stock upon exercise of stock options |  |  | 11,822 |  |  |  | 1 |  |  |  | (1 | ) |  |  | — |  |  |  | — |  |  |  | — |
Issuance of common stock upon vesting of RSUs |  |  | 53,334 |  |  |  | 6 |  |  |  | (6 | ) |  |  | — |  |  |  | — |  |  |  | — |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 380,823 |  |  |  | — |  |  |  | — |  |  |  | 380,823 |
Balances at September 30, 2020 |  |  | 77,770,284 |  |  | $ | 7,777 |  |  | $ | 221,587,384 |  |  | $ | (108,634,747 | ) |  | $ | — |  |  | $ | 112,960,414 |
|  | 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 |  |  | — |  |  |  | — |  |  |  | — |  |  |  | 36,180,584 |  |  |  | — |  |  |  | 36,180,584 |
Repurchase of common stock |  |  | (3,660,247 | ) |  |  | (366 | ) |  |  | — |  |  |  | (21,782,923 | ) |  |  | — |  |  |  | (21,783,289 | )
Payment of common stock tendered for employee stock-based compensation tax obligations |  |  | (29,035 | ) |  |  | (3 | ) |  |  | (184,006 | ) |  |  | — |  |  |  | — |  |  |  | (184,009 | )
Issuance of common stock upon exercise of stock options |  |  | 11,822 |  |  |  | 1 |  |  |  | (1 | ) |  |  | — |  |  |  | — |  |  |  | — |
Issuance of common stock upon vesting of RSUs |  |  | 177,876 |  |  |  | 18 |  |  |  | (18 | ) |  |  | — |  |  |  | — |  |  |  | — |
Stock-based compensation |  |  | — |  |  |  | — |  |  |  | 963,372 |  |  |  | — |  |  |  | — |  |  |  | 963,372 |
Balances at September 30, 2020 |  |  | 77,770,284 |  |  | $ | 7,777 |  |  | $ | 221,587,384 |  |  | $ | (108,634,747 | ) |  | $ | — |  |  | $ | 112,960,414 |
On March 5, 2020, the Company announced that the Company's 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 under the Securities Exchange Act of 1934, as amended (the "Exchange Act"), or otherwise. During the three and nine months ended September 30, 2021, the Company repurchased 1.1 million and 3.0 million shares of common stock, respectively, for approximately $7.1 million, and $20.3 million, respectively. As of September 30, 2021, $48.8 million of shares of common stock have been cumulatively repurchased under this program. On August 2, 2021, the Company's Board of Directors authorized an additional share repurchase program ("New Repurchase Authorization") under which the Company may repurchase up to $50 million of the Company's common stock through December 31, 2023. Shares can be repurchased under the New Repurchase Authorization once the maximum amount allowed to be repurchased under the program authorized in March 2020 has been repurchased, or once such program has expired. Repurchases under the New Repurchase Authorization 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 under the Exchange Act or otherwise. 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. As of September 30, 2021, no shares of common stock have been repurchased under the New Repurchase Authorization.

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- Definition The entire disclosure for shareholders' equity comprised of portions attributable to the parent entity and noncontrolling interest, including other comprehensive income. Includes, but is not limited to, balances of common stock, preferred stock, additional paid-in capital, other capital and retained earnings, accumulated balance for each classification of other comprehensive income and amount of comprehensive income. + References Reference 1: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496158-112644 Reference 2: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496158-112644 Reference 3: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 14 -Subparagraph (c) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496171-112644 Reference 4: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 14 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496171-112644 Reference 5: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=120397183&loc=d3e187085-122770 Reference 6: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 18 -Subparagraph (d) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496189-112644 Reference 7: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (g) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496158-112644 Reference 8: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -URI http://asc.fasb.org/topic&trid=2208762 Reference 9: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 18 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496189-112644 Reference 10: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (h) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496158-112644 Reference 11: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 14 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496171-112644 Reference 12: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 18 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496189-112644 Reference 13: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 16 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496180-112644 Reference 14: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 13 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=123467817&loc=SL123496158-112644 Reference 15: http://www.xbrl.org/2003/role/disclosureRef -Publisher FASB -Name Accounting Standards Codification -Topic 235 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.4-08(e)(1)) -URI http://asc.fasb.org/extlink&oid=120395691&loc=d3e23780-122690 + Details
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