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Note 5 - Stock-based Compensation - Stock Option Activity (Details)
$ / shares in Units, $ in Thousands
 3 Months Ended
Mar. 31, 2021
USD ($)
$ / shares
shares
Outstanding at January 1, 2021 (in shares) | shares 1,217,163
Outstanding at January 1, 2020, weighted average exercise price (in dollars per share) | $ / shares $ 6.50
Granted (in shares) | shares 0
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 0
Exercised (in shares) | shares (76,599)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 4.00
Forfeited or expired (in shares) | shares (11,997)
Forfeited or expired, weighted average exercise price (in dollars per share) | $ / shares $ 7.00
Outstanding at March 31, 2021 (in shares) | shares 1,128,567
Outstanding at March 31, 2020, weighted average exercise price (in dollars per share) | $ / shares $ 6.66
Outstanding at March 31, 2020, weighted average remaining contractual term (Year) 3 years 11 months 23 days
Outstanding at March 31, 2020, aggregate intrinsic value | $ $ 2,101
Exercisable at March 31, 2021 (in shares) | shares 658,855
Exercisable at March 31, 2020, weighted average exercise price (in dollars per share) | $ / shares $ 6.04
Exercisable at March 31, 2020, weighted average remaining contractual term (Year) 2 years 10 months 6 days
Exercisable at March 31, 2020, aggregate intrinsic value | $ $ 1,659