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Note 2 - Revenue Recognition (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Jan. 01, 2018
Revenue from Contract with Customer, Including Assessed Tax	$ 87,152	$ 77,877	$ 87,507
Capitalized Contract Cost, Net, Total	96
Contract with Customer, Liability, Revenue Recognized	3,593
Accounting Standards Update 2014-09 [Member]
Revenue from Contract with Customer, Including Assessed Tax		4,078
Unbilled Receivables, Current		8,597
Capitalized Contract Cost, Net, Total				$ 239
Capitalized Contract Cost, Amortization	183	120
Capitalized Contract Cost, Impairment Loss	$ 0	$ 0
Accounting Standards Update 2014-09 [Member] | Retained Earnings [Member]
New Accounting Pronouncement or Change in Accounting Principle, Cumulative Effect of Change on Equity or Net Assets				$ 8,555

X

- Definition

Amount of amortization expense for asset recognized from cost incurred to obtain or fulfill contract with customer.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 340
-SubTopic 40
-Section 50
-Paragraph 3
-Subparagraph (b)
-URI http://asc.fasb.org/extlink&oid=68051541&loc=SL49131252-203054

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+ References

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-Section 50
-Paragraph 3
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Amount of revenue recognized that was previously included in balance of obligation to transfer good or service to customer for which consideration from customer has been received or is due.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 8
-Subparagraph (b)
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+ References

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-SubTopic 10
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-Paragraph 1
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Amount, including tax collected from customer, of revenue from satisfaction of performance obligation by transferring promised good or service to customer. Tax collected from customer is tax assessed by governmental authority that is both imposed on and concurrent with specific revenue-producing transaction, including, but not limited to, sales, use, value-added and excise.

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 5
-URI http://asc.fasb.org/extlink&oid=118956577&loc=SL49130545-203045

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