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Note 7 - Income Tax Expense - Unrecognized Tax Benefits (Details) - USD ($)
$ in Thousands
 12 Months Ended
Dec. 31, 2021
Dec. 31, 2020
Dec. 31, 2019
Reductions due to lapse of statute of limitations $ (200) $ (100) $ (100)
Excluding Interest and Penalties [Member]      
Balance at the beginning of year 993 681  
Additions based on tax positions related to the current year 94 134  
Additions for tax positions of prior years 23 286  
Reductions due to lapse of statute of limitations (309) (108)  
Balance at the end of year $ 801 $ 993 $ 681