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Note 9 - Stockholders' Equity (Details Textual) $ / shares in Units, $ in Thousands			12 Months Ended
	Dec. 31, 2024 $ / shares shares	Feb. 12, 2024 shares	Dec. 31, 2024 USD ($) $ / shares shares	Dec. 31, 2023 USD ($) $ / shares shares	Dec. 31, 2022 USD ($) shares	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Jul. 31, 2002 shares
Common Stock, Number of Votes Per Share			1
Preferred Stock, Shares Authorized (in shares)	5,000,000		5,000,000	5,000,000
Preferred Stock, Par or Stated Value Per Share (in dollars per share) \| $ / shares	$ 0.001		$ 0.001	$ 0.001
Stock Repurchase Program, Number of Shares Authorized to be Repurchased (in shares)	1,000,000		1,000,000
Share Repurchase Program Additional Number of Shares Authorized To Be Repurchased (in shares)	7,800,000		7,800,000
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased (in shares)	24,781		24,781
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number	84,025		84,025	99,425
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period								1 year
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Gross					0
Share-Based Compensation Arrangement by Share-Based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value \| $ / shares			$ 10.46	$ 11.3
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercises in Period, Intrinsic Value \| $			$ 187	$ 173	$ 273
Stock Options, Stock Appreciation Rights, Restricted Stock Units, and Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant	232,033		232,033
Non-employee Director [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period							2 years	1 year
Employees [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period						3 years
Chief Executive Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded		5,344
Chief Executive Officer [Member] \| Performance Share Units [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	96.00%		96.00%
Share-based Payment Arrangement, Target Percentage, Higher Than S&P	118.00%		118.00%
Share-based Payment Arrangement, Target Percentage, Higher Than Russell	117.00%		117.00%
Chief Executive Officer [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)			62,170
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded, Percentage		60.00%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded		29,986
Chief Financial Officer [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)			15,446
Chief Operating Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded		4,372
Chief Operating Officer [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)			12,637
Chief Commercial Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Addtional Shares Issuable, Performance Goals Exceeded		3,609
Chief Commercial Officer [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)			10,430
CFO, COO, and CCO [Member] \| 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		40.00%
Share-Based Payment Arrangement, Tranche One [Member] \| Non-employee Director [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage			25.00%
Vesting on February 16, 2025 [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		33.40%
Vesting on February 16, 2025 [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage			33.40%
Vesting on February 16, 2026 [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		33.30%
Vesting on February 16, 2026 [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage			33.30%
Vesting on February 16, 2027 [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		33.30%
Vesting on February 16, 2027 [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage			33.30%
Goals One [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		90.00%
Goals One [Member] \| Short-Term Executive PSUs [Member] \| Full Vesting Based on The Achievement of 2022 License Target [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		50.00%
Goals One [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		100.00%
Goals One [Member] \| Short-Term Executive PSUs [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage		2.00%
Goals One [Member] \| Chief Executive Officer [Member] \| Short-Term Executive PSUs [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage		3.00%
Goals One [Member] \| Maximum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Achievement In Excess of 90 Percent [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage		120.00%
Goals One [Member] \| Minimum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Achievement In Excess of 90 Percent [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		91.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage		1.00%
Goals Two [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		25.00%
Goals Two [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		100.00%
Goals Two [Member] \| Short-Term Executive PSUs [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage		2.00%
Goals Two [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		25.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		90.00%
Goals Two [Member] \| Chief Executive Officer [Member] \| Short-Term Executive PSUs [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage		3.00%
Goals Two [Member] \| Maximum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage		120.00%
Goals Two [Member] \| Maximum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		99.00%
Goals Two [Member] \| Minimum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return In Excess of 100 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage		1.00%
Goals Two [Member] \| Minimum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of S&P500 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		91.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		90.00%
Goals Three [Member] \| Short-Term Executive PSUs [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		25.00%
Goals Three [Member] \| Short-Term Executive PSUs [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage		2.00%
Goals Three [Member] \| Short-Term Executive PSUs [Member] \| Full Vesting Based on The Achievement of Positive Shareholder Return [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		25.00%
Goals Three [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		90.00%
Goals Three [Member] \| Chief Executive Officer [Member] \| Short-Term Executive PSUs [Member] \| Increase in Eligible PSUs, Percent [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Conditional Increase in Shares, Percentage		3.00%
Goals Three [Member] \| Maximum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		99.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage		120.00%
Goals Three [Member] \| Minimum [Member] \| Short-Term Executive PSUs [Member] \| Vesting Based on Actual Return Being at Least 90 Percent of Russel 2000 Index [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		91.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Threshold, Percentage		90.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Actual Performance Results, in Excess of Performance Threshold, Percentage		1.00%
The2011 Stock Incentive Plan [Member] \| Chief Executive Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		33,318
The2011 Stock Incentive Plan [Member] \| Chief Executive Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		49,978
The2011 Stock Incentive Plan [Member] \| Chief Financial Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		20,043
The2011 Stock Incentive Plan [Member] \| Chief Financial Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		13,362
The2011 Stock Incentive Plan [Member] \| Chief Operating Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		16,399
The2011 Stock Incentive Plan [Member] \| Chief Operating Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		10,932
The2011 Stock Incentive Plan [Member] \| Chief Commercial Officer [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		13,535
The2011 Stock Incentive Plan [Member] \| Chief Commercial Officer [Member] \| Performance Share Units [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares)		9,023
The2011 Stock Incentive Plan [Member] \| Maximum [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period			4 years
The2011 Stock Incentive Plan [Member] \| Share-Based Payment Arrangement, Tranche One [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage	25.00%
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period			1 year
The2011 Stock Incentive Plan [Member] \| Share-Based Payment Arrangement, Tranche Two [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Period			36 months
The2011 Stock Incentive Plan [Member] \| Vesting After the First Anniversary Grant Date [Member] \| Non-employee Director [Member] \| Restricted Stock Units (RSUs) [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Award Vesting Rights, Percentage		50.00%
The 2002 Employee Stock Purchase Plan [Member]
Share-Based Compensation Arrangement by Share-Based Payment Award, Number of Shares Available for Grant	207,933		207,933						3,450,000
Period Employees Eligible To Participate in Employee Stock Purchase Plan (Month)			5 months
Minimum Working Hours for Eligibility of Employee Stock Purchase Plan			20
The 2002 Employee Stock Purchase Plan [Member] \| Commencement of Offer Period [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Vesting Price, Percentage Fair Value Market Value	85.00%		85.00%
The 2002 Employee Stock Purchase Plan [Member] \| Last Day of Purchase Period [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Vesting Price, Percentage Fair Value Market Value	85.00%		85.00%
Share-Based Payment Arrangement, Employee [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number	0		0	0