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Note 5 - Stock-based Compensation - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 9 Months Ended
Sep. 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) 56,500
Granted, weighted average exercise price (in dollars per share) $ 8.50
Exercised (in shares) (184,429)
Exercised, weighted average exercise price (in dollars per share) $ 4.46
Forfeited or expired (in shares) (24,578)
Forfeited or expired, weighted average exercise price (in dollars per share) $ 7.35
Outstanding at September 30, 2021 (in shares) 1,064,656
Outstanding at March 31, 2021, weighted average exercise price (in dollars per share) $ 6.94
Outstanding at March 31, 2021, weighted average remaining contractual term (Year) 3 years 9 months 29 days
Outstanding at March 31, 2021, aggregate intrinsic value $ 978
Vested and expected to vest at September 30, 2021 (in shares) 995,875
Options vested and expected to vest, weighted average exercise price (in dollars per share) $ 6.91
Options vested and expected to vest, weighted average remaining contractual term (Year) 3 years 8 months 15 days
Options vested and expected to vest, aggregate intrinsic value $ 958
Exercisable at September 30, 2021 (in shares) 769,123
Exercisable at March 31, 2021, weighted average exercise price (in dollars per share) $ 6.77
Exercisable at March 31, 2021, weighted average remaining contractual term (Year) 3 years 1 month 20 days
Exercisable at March 31, 2021, aggregate intrinsic value $ 889