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Note 5 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 6 Months Ended
Jun. 30, 2021
Outstanding at January 1, 2021 (in shares) 1,217,163
Outstanding at January 1, 2021, weighted average exercise price (in dollars per share) $ 6.50
Granted (in shares) 0
Granted, weighted average exercise price (in dollars per share) $ 0
Exercised (in shares) (128,096)
Exercised, weighted average exercise price (in dollars per share) $ 4.60
Forfeited or expired (in shares) (14,663)
Forfeited or expired, weighted average exercise price (in dollars per share) $ 7.07
Outstanding at June 30, 2021 (in shares) 1,074,404
Outstanding at March 31, 2021, weighted average exercise price (in dollars per share) $ 6.72
Outstanding at March 31, 2021, weighted average remaining contractual term (Year) 3 years 9 months 10 days
Outstanding at March 31, 2021, aggregate intrinsic value $ 2,037
Vested and expected to vest at June 30, 2021 (in shares) 998,941
Options vested and expected to vest, weighted average exercise price (in dollars per share) $ 6.66
Options vested and expected to vest, weighted average remaining contractual term (Year) 3 years 7 months 28 days
Options vested and expected to vest, aggregate intrinsic value $ 1,963
Exercisable at June 30, 2021 (in shares) 744,455
Exercisable at March 31, 2021, weighted average exercise price (in dollars per share) $ 6.42
Exercisable at March 31, 2021, weighted average remaining contractual term (Year) 3 years 18 days
Exercisable at March 31, 2021, aggregate intrinsic value $ 1,710