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Note 14 - Stockholders' Equity - Stockholders' Equity Transactions (Details) - USD ($)
$ in Thousands
 3 Months Ended 6 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Balances $ 107,414   $ 104,698  
Exercise of stock options (in shares) 45,538 16,922 73,875 41,935
Exercise of stock options $ 1,247   $ 1,476  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (80)   (298)  
Stock-based compensation 1,209   2,231  
Net income 1,807 $ 157 3,956 $ 2,991
Other comprehensive income (loss) (773) $ 1,314 (1,239) $ 123
Balances $ 110,824   $ 110,824  
Common Stock [Member]        
Balances (in shares) 10,624,415   10,612,414  
Balances $ 21,511   $ 20,798  
Exercise of stock options (in shares) 45,688   73,875  
Exercise of stock options $ 1,946   $ 2,659  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (in shares) (4,589)   (20,775)  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration $ 0   $ 0  
Stock-based compensation 0   0  
Other comprehensive income (loss) $ 0   $ 0  
Balances (in shares) 10,665,514   10,665,514  
Balances $ 23,457   $ 23,457  
Additional Paid-in Capital [Member]        
Balances 1,778   1,458  
Exercise of stock options (699)   (1,183)  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (80)   (298)  
Stock-based compensation 1,209   2,231  
Other comprehensive income (loss) 0   0  
Balances 2,208   2,208  
Retained Earnings [Member]        
Balances 82,255   80,106  
Exercise of stock options 0   0  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration 0   0  
Stock-based compensation 0   0  
Net income 1,807   3,956  
Other comprehensive income (loss) 0   0  
Balances 84,062   84,062  
AOCI Attributable to Parent [Member]        
Balances 1,870   2,336  
Exercise of stock options 0   0  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration 0   0  
Stock-based compensation 0   0  
Other comprehensive income (loss) (773)   (1,239)  
Balances $ 1,097   $ 1,097