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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