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Note 6 - Shareholders' Equity - Options Range of Exercise Prices (Details) - $ / shares	12 Months Ended
	Dec. 31, 2021	Dec. 31, 2020
Upper range limit (in dollars per share)	$ 9.96
Options outstanding, number of outstanding options (in shares)	1,306,824
Options outstanding, weighted-average remaining contractual life (Year)	4 years 2 months 19 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 6.87
Options exercisable, number of options exercisable (in shares)	745,288
Options exercisable, weighted-average exercise price (in dollars per share)	$ 6.85	$ 5.82
Range One [Member]
Upper range limit (in dollars per share)	$ 5.31
Options outstanding, number of outstanding options (in shares)	325,579
Options outstanding, weighted-average remaining contractual life (Year)	2 years 8 months 4 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 4.58
Options exercisable, number of options exercisable (in shares)	240,579
Options exercisable, weighted-average exercise price (in dollars per share)	$ 4.34
Range Two [Member]
Upper range limit (in dollars per share)	$ 6.51
Options outstanding, number of outstanding options (in shares)	321,411
Options outstanding, weighted-average remaining contractual life (Year)	4 years 4 months 9 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 6.28
Options exercisable, number of options exercisable (in shares)	166,602
Options exercisable, weighted-average exercise price (in dollars per share)	$ 6.07
Range Three [Member]
Upper range limit (in dollars per share)	$ 7.16
Options outstanding, number of outstanding options (in shares)	205,750
Options outstanding, weighted-average remaining contractual life (Year)	6 years 5 months 12 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 6.97
Options exercisable, number of options exercisable (in shares)	11,667
Options exercisable, weighted-average exercise price (in dollars per share)	$ 7.09
Range Four [Member]
Upper range limit (in dollars per share)	$ 9.96
Options outstanding, number of outstanding options (in shares)	454,084
Options outstanding, weighted-average remaining contractual life (Year)	4 years 2 months 19 days
Options outstanding, weighted-average exercise price (in dollars per share)	$ 8.88
Options exercisable, number of options exercisable (in shares)	326,440
Options exercisable, weighted-average exercise price (in dollars per share)	$ 9.08

X

- 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

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 (c)(iii)
-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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- 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

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 (c)(1)(i)-(ii)
-URI http://asc.fasb.org/extlink&oid=120381028&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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-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=120381028&loc=d3e5070-113901

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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
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-SubTopic 10
-Section 50
-Paragraph 2
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-URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901

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X

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