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Note 10 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($) $ / shares in Units, $ in Thousands |  |  |  |  | 6 Months Ended |
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Feb. 20, 2020 | Jul. 19, 2019 | May 07, 2019 | Feb. 19, 2019 | Jun. 30, 2020 | Dec. 31, 2019
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) | [2] |  |  |  |  | 441,166 | [1] | 642,253
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number (in shares) | [2],[3] |  |  |  |  | 415,166 |  |
Projected Revenue Goal |  |  |  | $ 41,000 |  |  |  |
Non-employee Director [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Annual Vesting, Percentage |  |  |  |  |  | 25.00% |  |
Maximum [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  | 4 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) |  |  |  |  |  | 422,500 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number (in shares) |  |  |  |  |  | 396,500 |  |
Stock Appreciation Rights (SARs) [Member] | Maximum [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Percentage of Awards Granted |  |  |  |  |  | 400.00% |  |
Percentage of Stock Appreciation Rights Units Subject to Grant |  |  |  |  |  | 75.00% |  |
The2011 Stock Incentive Plan [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights Vesting Percentage, Year One |  |  |  |  |  | 25.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period (Month) |  |  |  |  |  | 36 months |  |
Stock Options and SARs [Member] |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  |  |  | $ 4 |  |
Restricted Stock Units (RSUs) [Member] | Acquisition of Hillcrest Labs [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period (Month) |  |  | 24 months |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 3 years |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  | 52,000 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Employees Granted Shares (in shares) |  |  | 22 |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  | $ 25.41 |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Restricted Stock Units Vesting After One Year [Member] | Acquisition of Hillcrest Labs [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  | 34.00% |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 3 years | 3 years |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  | 10,000 | 30,000 |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | Vesting on February 19, 2021 [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 33.33% |  |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | Vesting on February 19, 2020 [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 33.33% |  |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | Vesting on February 19, 2022 [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  | 33.33% |  |  |  |
Performance Share Units [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  | 3 years |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) |  |  |  | 24,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Number to Be Granted If 100% License Revenue Target is Met (in shares) |  |  |  | 20,000 |  |  |  | 23,200
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Percentage of License Revenue Target, Proportional Percentage to Be Received upon Achievement |  |  |  |  |  |  |  | 116.00%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Proportional Percentage to Be Received for Each Increase of 1 Percent Beyond the License Revenue Target |  |  |  | 1.00% |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Ceiling as a Percentage of Baseline Number to Be Granted if the License Revenue Target is Exceeded |  |  |  | 120.00% |  |  |  |
Performance Share Units [Member] | Key Employees [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 3 years |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 18,500 |  |  |  |  |  |
Performance Share Units [Member] | Key Employees [Member] | PSUs Vesting After One Year [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  | 24 months |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 34.00% |  |  |  |  |  |
Performance Share Units [Member] | Key Employees [Member] | Key Employees PSUs Goals One [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 50.00% |  |  |  |  |  |
Performance Share Units [Member] | Key Employees [Member] | Key Employees PSUs Goals Two [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 30.00% |  |  |  |  |  |
Performance Share Units [Member] | Key Employees [Member] | Key Employees PSUs Goals Three [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 20.00% |  |  |  |  |  |
Performance Share Units [Member] | Maximum [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Percentage of License Revenue Target, Proportional Percentage to Be Received upon Achievement |  |  |  | 99.00% |  |  |  |
Performance Share Units [Member] | Minimum [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Percentage of License Revenue Target, Proportional Percentage to Be Received upon Achievement |  |  |  | 90.00% |  |  |  |
Short-Term Executive PSUs [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage |  | 20.00% |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals One [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 50.00% |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Goals Two [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 50.00% |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Vesting on February 20, 2021 [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  | 33.40% |  |
Short-Term Executive PSUs [Member] | Vesting on February 22, 2022 [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  | 33.30% |  |
Short-Term Executive PSUs [Member] | Vesting on February 20, 2023 [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  |  |  |  | 33.30% |  |
Short-Term Executive PSUs [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 17,045 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  | 3,410 |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Executive Vice President, Worldwide Sales [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 5,113 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  | 1,023 |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 4,545 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  | 909 |  |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Operating Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 4,545 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  | 909 |  |  |  |  |  |
Long-term PSUs [Member] |  |  |  |  |  |  |  |
Performance Goal, Minimum Market Cap for at Lease 30 Trading Days |  | $ 1,000,000 |  |  |  |  |  |
Long-term PSUs [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 56,818 |  |  |  |  |  |
Long-term PSUs [Member] | Executive Vice President, Worldwide Sales [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 35,511 |  |  |  |  |  |
Long-term PSUs [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 28,409 |  |  |  |  |  |
Long-term PSUs [Member] | Chief Operating Officer [Member] |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 28,409 |  |  |  |  |  |
RSUs and PSUs [Member] |  |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  |  |  | $ 17,713 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  |  |  |  | 409,437 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) |  |  |  |  |  | $ 27.65 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  |  | 1 year 6 months |  |
[1] | Due to the ceiling imposed on the SAR grants, the outstanding amount equals a maximum of 422,500 shares of the Company's common stock issuable upon exercise.
[2] | The SAR units are convertible for a maximum number of shares of the Company’s common stock equal to 75% of the SAR units subject to the grant.
[3] | Due to the ceiling imposed on the SAR grants, the exercisable amount equals a maximum of 396,500 shares of the Company's common stock issuable upon exercise.

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