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Note 13 - Commitments (Details Textual) - USD ($)	3 Months Ended		9 Months Ended
	Sep. 30, 2020	Sep. 30, 2019	Sep. 30, 2020	Sep. 30, 2019
Operating Leases, Rent Expense, Net, Total	$ 1,400,000	$ 1,600,000	$ 4,300,000	$ 4,600,000
Operating Leases, Rent Expense, Sublease Rentals	$ 82,000	$ 49,000	$ 263,000	$ 148,000

X

- Definition

Rental expense for the reporting period incurred under operating leases, including minimum and any contingent rent expense, net of related sublease income.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/otherTransitionRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 840
-SubTopic 20
-Section 50
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=121573735&loc=d3e41499-112717

+ Details

Name:	us-gaap_OperatingLeasesRentExpenseNet
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	duration

X

- Definition

The total amount of sublease rental income recognized during the period that reduces the entity's rent expense incurred under operating leases.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/otherTransitionRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 840
-SubTopic 10
-Section 55
-Paragraph 40
-Subparagraph (Note 3)
-URI http://asc.fasb.org/extlink&oid=121580752&loc=d3e38371-112697

+ Details

Name:	us-gaap_OperatingLeasesRentExpenseSubleaseRentals1
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	credit
Period Type:	duration