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Note 7 - Shareholders' Equity - Options Range of Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2019	Dec. 31, 2018
Lower range limit (in dollars per share)	$ 3.22
Upper range limit (in dollars per share)	$ 10
Options outstanding, number of outstanding options (in shares)	1,541,792
Options outstanding, weighted-average remaining contractual life (Year)	3 years 76 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 6.88
Options exercisable, number of options exercisable (in shares)	1,083,581
Options exercisable, weighted-average exercise price (in dollars per share)	$ 6.28	$ 5.89
Range One [Member]
Lower range limit (in dollars per share)	3.22
Upper range limit (in dollars per share)	$ 3.99
Options outstanding, number of outstanding options (in shares)	244,377
Options outstanding, weighted-average remaining contractual life (Year)	1 year 255 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 3.82
Options exercisable, number of options exercisable (in shares)	244,377
Options exercisable, weighted-average exercise price (in dollars per share)	$ 3.82
Range Two [Member]
Lower range limit (in dollars per share)	4
Upper range limit (in dollars per share)	$ 5.99
Options outstanding, number of outstanding options (in shares)	336,331
Options outstanding, weighted-average remaining contractual life (Year)	3 years 295 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 4.95
Options exercisable, number of options exercisable (in shares)	269,601
Options exercisable, weighted-average exercise price (in dollars per share)	$ 4.79
Range Three [Member]
Lower range limit (in dollars per share)	6
Upper range limit (in dollars per share)	$ 9.99
Options outstanding, number of outstanding options (in shares)	761,084
Options outstanding, weighted-average remaining contractual life (Year)	4 years 7 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 7.89
Options exercisable, number of options exercisable (in shares)	369,603
Options exercisable, weighted-average exercise price (in dollars per share)	$ 6.99
Range Four [Member]
Lower range limit (in dollars per share)	10
Upper range limit (in dollars per share)	$ 10
Options outstanding, number of outstanding options (in shares)	200,000
Options outstanding, weighted-average remaining contractual life (Year)	1 year
Options outstanding, weighted-average exercise price (in dollars per share)	$ 10
Options exercisable, number of options exercisable (in shares)	200,000
Options exercisable, weighted-average exercise price (in dollars per share)	$ 10

X

- Definition

The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (g)
-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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- Definition

The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied.

+ References

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-Publisher FASB
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X

- Definition

The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices.

+ References

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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-URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901

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X

- Definition

The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

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X

- Definition

Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding.

+ References

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-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
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- Definition

The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices.

+ References

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X

- Definition

Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

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