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Note 11 - Equity Plans - Restricted Stock Unit Activity (Details) - Restricted Stock Units (RSUs) [Member] - $ / shares
6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Outstanding, number of shares (in shares) 610,540 636,086 636,086
Outstanding, weighted average estimated fair value (in dollars per share) $ 18.25 $ 19.25 $ 19.25
Granted, number of shares (in shares) 20,604 70,588 0
Granted, weighted average estimated fair value (in dollars per share) $ 23.29 $ 11.92  
Converted into shares, number of shares (in shares) (2,422) (94,161)  
Converted into shares, weighted average estimated fair value (in dollars per share) $ 17.09 $ 20.27  
Forfeited, number of shares (in shares) (5,086) (494)  
Forfeited, weighted average estimated fair value (in dollars per share) $ 17.55 $ 27.31  
Outstanding, number of shares (in shares) 623,636 612,019 610,540
Outstanding, weighted average estimated fair value (in dollars per share) $ 18.43 $ 18.25 $ 18.25
Vested, number of shares (in shares) 414,090 375,692  
Vested, weighted average estimated fair value (in dollars per share) $ 18.76 $ 18.94