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Note 10 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($) |  |  |  | 3 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | --- | ---
Feb. 18, 2021 | Feb. 16, 2021 | Feb. 20, 2020 | Mar. 31, 2021 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2020
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) | [2] |  |  |  | 135,774 | [1] |  |  | 289,069
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number (in shares) | [2],[3] |  |  |  | 135,774 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Grants in Period (in shares) | [2] |  |  |  | 0 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  |  | $ 13,901,000 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  |  | 1 year 6 months |  |  |  |
Non-employee Director [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Annual Vesting, Percentage |  |  |  |  | 25.00% |  |  |  |
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 |  |  |  |
Maximum [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number (in shares) |  |  |  |  | 131,581 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number (in shares) |  |  |  |  | 131,581 |  |  |  |
Maximum [Member] | The2011 Stock Incentive Plan [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  | 4 years |  |  |  |
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% |  |  |  |
Restricted Stock Units (RSUs) [Member] | Vesting on February 18, 2022 [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 33.40% |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Vesting on February 18, 2023 [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 33.30% |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Vesting on February 18, 2024 [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 33.30% |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Non-employee Director [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  |  |  | 2 years | 1 year |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number (in shares) |  |  | 5,902 |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | Employees [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  |  |  | 3 years |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Non-employee Director [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) |  |  | 2 years |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  |  | 1,784 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Fair Value |  |  | $ 124,670 |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Non-employee Director [Member] | Vesting After the First Anniversary Grant Date [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  |  | 50.00% |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 5,962 |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [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) |  | 4,024 |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 3,577 |  |  |  |  |  |  |
Restricted Stock Units (RSUs) [Member] | The2011 Stock Incentive Plan [Member] | Chief Operating Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 3,577 |  |  |  |  |  |  |
Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Chief Executive Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 8,943 |  |  |  |  |  |  |
Performance Share Units [Member] | The2011 Stock Incentive Plan [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) |  | 2,683 |  |  |  |  |  |  |
Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 2,385 |  |  |  |  |  |  |
Performance Share Units [Member] | The2011 Stock Incentive Plan [Member] | Chief Operating Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) |  | 2,385 |  |  |  |  |  |  |
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, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  | 1,788 |  |  |  |  |
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, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  | 536 |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Financial Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  | 477 |  |  |  |  |
Short-Term Executive PSUs [Member] | Chief Operating Officer [Member] |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded (in shares) |  |  |  | 477 |  |  |  |  |
[1] | Due to the ceiling imposed on the SAR grants, the outstanding amount equals a maximum of 131,581 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 131,581 shares of the Company’s common stock issuable upon exercise.

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