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Note 15 - Stock-based Compensation (Details Textual) - USD ($) |  | 3 Months Ended | 9 Months Ended | 12 Months Ended |
--- | --- | --- | --- | --- | ---
May 17, 2017 | Sep. 30, 2020 | Sep. 30, 2019 | Sep. 30, 2020 | Sep. 30, 2019 | Dec. 31, 2019 | Jan. 31, 2017
Share-based Payment Arrangement, Expense |  | $ 167,000 | $ 147,000 | $ 494,000 | $ 543,000 |  |
Employee Service, Share Based Compensation Tax Expense From Compensation Expense |  | 0 | $ 38,000 | 26,000 | 78,000 |  |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount |  | $ 393,000 |  | 393,000 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value |  |  |  | $ 221,000 |  | $ 484,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares, Ending Balance (in shares) |  | 90,000 |  | 90,000 |  | 76,500 |
Share-based Compensation Arrangement by Share-based Payment Award, Option, Nonvested, Weighted Average Exercise Price, Ending Balance (in dollars per share) |  | $ 5.35 |  | $ 5.35 |  | $ 6.32 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) |  |  |  | 56,498 |  | 200,629 |
Proceeds from Stock Options Exercised |  |  |  | $ 712,000 | $ 2,694,000 | $ 2,800,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  |  | $ 389,000 |  | $ 1,200,000 |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) |  |  |  | 1 year 8 months 12 days |  |  |
Stock Option Plan 2010 [Member] |  |  |  |  |  |  |
Share Based Compensation, Arrangement By Share Based Payment Award, Common Stock Reserved As Percentage Of Issued And Outstanding |  |  |  |  |  |  | 30.00%
Common Stock, Capital Shares Reserved for Future Issuance (in shares) |  |  |  |  |  |  | 3,494,478
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) | 0 |  |  |  |  |  |
Omnibus Stock Incentive Plan [Member] |  |  |  |  |  |  |
Share Based Compensation, Arrangement By Share Based Payment Award, Common Stock Reserved As Percentage Of Issued And Outstanding | 30.00% |  |  |  |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | 3,848,341 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) |  | 1,239,045 |  | 1,239,045 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Percentage of Outstanding Stock Maximum |  |  |  | 6.28% |  |  |

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