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Note 5 - Supplemental Balance Sheet Information (Details Textual)
$ in Thousands
 12 Months Ended
Dec. 31, 2019
USD ($)
Dec. 31, 2018
USD ($)
Dec. 31, 2017
USD ($)
Cash, Cash Equivalents, Restricted Cash and Restricted Cash Equivalents, Ending Balance $ 7,405 $ 25,934 $ 18,330
Restricted Cash and Cash Equivalents, Total 270 351  
Revenues, Total 106,795 87,190  
Depreciation, Total $ 2,220 1,972  
Number of Reporting Units 5    
Goodwill, Impairment Loss $ 0 0  
Finite-Lived Intangible Assets, Amortization Expense, Next Twelve Months 360    
Finite-Lived Intangible Assets, Amortization Expense, Year Two 341    
Finite-Lived Intangible Assets, Amortization Expense, Year Three 326    
Finite-Lived Intangible Assets, Amortization Expense, Year Four 323    
Finite-Lived Intangible Assets, Amortization Expense, Year Five 313    
Grant [Member]      
Revenues, Total 78    
CHINA      
Restricted Cash and Cash Equivalents, Total 188 266  
NETHERLANDS      
Restricted Cash and Cash Equivalents, Total $ 82 $ 85