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Note 2 - Revenue Recognition (Details Textual) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018	Jan. 01, 2018	Dec. 31, 2017
Stockholders' Equity Attributable to Parent, Ending Balance	$ 260,889	$ 251,157	$ 245,879		$ 244,670
Revenue from Contract with Customer, Including Assessed Tax	100,326	87,152	77,877
Capitalized Contract Cost, Net, Total	24
Contract with Customer, Liability, Revenue Recognized	3,575
Retained Earnings [Member]
Stockholders' Equity Attributable to Parent, Ending Balance	57,350	62,426	62,853		$ 53,873
Cumulative Effect, Period of Adoption, Adjustment [Member]
Stockholders' Equity Attributable to Parent, Ending Balance			8,555
Cumulative Effect, Period of Adoption, Adjustment [Member] | Retained Earnings [Member]
Stockholders' Equity Attributable to Parent, Ending Balance			8,555
Accounting Standards Update 2014-09 [Member]
Revenue from Contract with Customer, Including Assessed Tax			4,078
Capitalized Contract Cost, Amortization	71	183	120
Capitalized Contract Cost, Impairment Loss	$ 0	$ 0	$ 0
Accounting Standards Update 2014-09 [Member] | Cumulative Effect, Period of Adoption, Adjustment [Member] | Retained Earnings [Member]
Stockholders' Equity Attributable to Parent, Ending Balance				$ 8,555

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

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