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Note 7 - Shareholders' Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2019
Dec. 31, 2018
Shares under Option, beginning of period (in shares) 1,576,087 1,860,211
Options outstanding - weighted average exercise price (in dollars per share) $ 6.58 $ 5.96
Options granted (in shares) 282,500 217,500
Options granted - weighted average exercise price (in dollars per share) $ 8.27 $ 9.68
Options exercised (in shares) (208,881) (422,793)
Options exercised - weighted average exercise price (in dollars per share) $ 4.45 $ 4.49
Options forfeited or expired (in shares) (107,914) (78,831)
Options forfeited or expired - weighted average exercise price (in dollars per share) $ 10.93 $ 11.75
Shares under option, end of period (in shares) 1,541,792 1,576,087
Options outstanding - weighted average exercise price (in dollars per share) $ 6.88 $ 6.58
Options outstanding - weighted average remaining contractual term (Year) 3 years 76 days  
Options outstanding - aggregate intrinsic value $ 1,991  
Vested and Expected to Vest (in shares) 1,445,563  
Options vested and expected to vest - weighted average exercise price (in dollars per share) $ 6.79  
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 14 days  
Options vested and expected to vest - aggregate intrinsic value $ 1,959  
Options Exercisable (in shares) 1,083,581 1,064,127
Options exercisable, weighted-average exercise price (in dollars per share) $ 6.28 $ 5.89
Options exercisable - weighted average remaining contractual term (Year) 2 years 32 days  
Options exercisable - aggregate intrinsic value $ 1,872