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Note 3 - Restructuring and Other Charges - Changes in Accrued Restructuring (Details) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2020 | Sep. 30, 2020 | Jun. 30, 2020 | Mar. 31, 2020 | Sep. 30, 2019 | Jun. 30, 2019 | Dec. 31, 2020 | Dec. 31, 2019
Beginning balance |  |  |  | $ 0 |  |  | $ 0 | $ 0
Restructuring Charges, Total | $ 1,078 | $ 161 | $ 38 | $ 8 | $ 17 | $ 223 |  |
Cash payments |  |  |  |  |  |  | (159) | (240)
Balance | $ 340 |  |  |  |  |  | 340 | 0
Ambrell European Operations Consolidation [Member] |  |  |  |  |  |  |  |
Restructuring Charges, Total |  |  |  |  |  |  |  | 240
Severance and Other One-Time Termination Benefits [Member] |  |  |  |  |  |  |  |
Restructuring Charges, Total |  |  |  |  |  |  | 248 | 137
Severance and Other One-Time Termination Benefits [Member] | Ambrell European Operations Consolidation [Member] |  |  |  |  |  |  |  |
Restructuring Charges, Total |  |  |  |  |  |  |  | 137
Facility Closing [Member] | Ambrell European Operations Consolidation [Member] |  |  |  |  |  |  |  |
Restructuring Charges, Total |  |  |  |  |  |  |  | $ 103
Subletting Costs of the Fremont CA Facility [Member] |  |  |  |  |  |  |  |
Restructuring Charges, Total |  |  |  |  |  |  | 153 |
Subletting Costs of the Mansfield MA Facility [Member] |  |  |  |  |  |  |  |
Restructuring Charges, Total |  |  |  |  |  |  | $ 98 |

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