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Note 14 - Stockholders' Equity - Stockholders' Equity Transactions (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2021
Sep. 30, 2020
Sep. 30, 2021
Sep. 30, 2020
Balances $ 110,824   $ 104,698  
Exercise of stock options (in shares) 46,803 38,102 120,828 80,037
Exercise of stock options $ 1,368   $ 2,844  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (89)   (387)  
Stock-based compensation 1,126   3,357  
Net income 1,375 $ 716 5,331 $ 3,707
Other comprehensive income (loss) (1,385) $ 775 (2,624) $ 898
Balances $ 113,219   $ 113,219  
Common Stock [Member]        
Balances (in shares) 10,665,514   10,612,414  
Balances $ 23,457   $ 20,798  
Exercise of stock options (in shares) 46,753   120,778  
Exercise of stock options $ 2,063   $ 4,722  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (in shares) (15,488)   (36,413)  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration $ 0      
Stock-based compensation 0      
Other comprehensive income (loss) $ 0   $ 0  
Balances (in shares) 10,696,779   10,696,779  
Balances $ 25,520   $ 25,520  
Additional Paid-in Capital [Member]        
Balances 2,208   1,458  
Exercise of stock options (695)   (1,878)  
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration (89)   (387)  
Stock-based compensation 1,126   3,357  
Other comprehensive income (loss) 0      
Balances 2,550   2,550  
Retained Earnings [Member]        
Balances 84,062   80,106  
Exercise of stock options 0      
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration 0      
Stock-based compensation 0      
Net income 1,375   5,331  
Other comprehensive income (loss) 0      
Balances 85,437   85,437  
AOCI Attributable to Parent [Member]        
Balances 1,097   2,336  
Exercise of stock options 0      
Shares deducted from exercise of stock options for payment of withholding taxes and exercise consideration 0      
Stock-based compensation 0      
Other comprehensive income (loss) (1,385)   (2,624)  
Balances $ (288)   $ (288)