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Note 2 - Summary of Significant Accounting Policies (Details Textual) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2019 | Dec. 31, 2019 | Dec. 31, 2018 | Jan. 01, 2019 | Dec. 31, 2017
Accounts Receivable, Allowance for Credit Loss, Ending Balance |  | $ 1,967 | $ 1,751 |  | $ 1,624
Impairment of Intangible Assets, Finite-lived | $ 0 | 0 | 0 |  |
Contract with Customer, Liability, Current |  | 1,140 | 444 |  |
Unbilled Receivables, Current |  | 29,061 | 25,545 |  |
Marketing and Advertising Expense, Total |  | 1,354 | 1,471 |  |
Operating Lease, Right-of-Use Asset |  | 9,865 |  |  |
Operating Lease, Liability, Total |  | $ 11,338 |  |  |
Accounting Standards Update 2016-02 [Member] |  |  |  |  |
Operating Lease, Right-of-Use Asset |  |  |  | $ 10,866 |
Operating Lease, Liability, Total |  |  |  | $ 11,138 |
Minimum [Member] |  |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 2 years |  |  |
Maximum [Member] |  |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 20 years |  |  |

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