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Note 2 - Significant Accounting Policies (Details Textual)
$ in Thousands
 12 Months Ended
Dec. 31, 2020
USD ($)
Dec. 31, 2019
USD ($)
Jan. 01, 2019
USD ($)
Jan. 01, 2018
USD ($)
Number of Operating Segments 2      
Operating Lease, Right-of-Use Asset $ 11,238 $ 11,335    
Operating Lease, Liability, Total 10,940      
Capitalized Contract Cost, Net, Total       $ 1,400
Retained Earnings (Accumulated Deficit), Ending Balance 80,106 76,208    
Deferred Income Tax Liabilities, Net, Total $ 24,694 $ 25,471    
Accounting Standards Update 2016-02 [Member]        
Operating Lease, Right-of-Use Asset     $ 8,800  
Operating Lease, Liability, Total     8,300  
Operating Lease, Right-of-Use Asset, Net     500  
Deferred Rent Credit     (100)  
Prepaid Expense     $ (600)  
Accounting Standards Update 2014-09 [Member] | Difference between Revenue Guidance in Effect before and after Topic 606 [Member]        
Retained Earnings (Accumulated Deficit), Ending Balance       1,100
Deferred Income Tax Liabilities, Net, Total       $ 300
Minimum [Member]        
Finite-Lived Intangible Asset, Useful Life (Year) 2 years      
Maximum [Member]        
Finite-Lived Intangible Asset, Useful Life (Year) 15 years      
Capitalized Internal Use Software [Member] | Minimum [Member]        
Finite-Lived Intangible Asset, Useful Life (Year) 3 years      
Capitalized Internal Use Software [Member] | Maximum [Member]        
Finite-Lived Intangible Asset, Useful Life (Year) 7 years