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Note 10 - Shareholders' Equity (Details Textual) - USD ($) xbrli-pure in Thousands | 12 Months Ended |
--- | --- | ---
Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Stock Repurchased and Retired During Period, Shares (in shares) | 223,100 | 683,910 |
Payments for Repurchase of Common Stock | $ 2,666,000 | $ 2,548,000 |
Stock Repurchase Program, Remaining Authorized Repurchase Amount | $ 4,486,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | 370,000 |  |
Share-based Payment Arrangement, Expense | $ 375,000 | $ 451,000 |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 227,000 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 1 year 58 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares) | 568,740 | 1,326,414 | 1,022,913
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Dividend Rate |  | 0.00% |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | $ 10,772,000 | $ 121,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) | 757,674 | 66,499 |
Proceeds from Stock Options Exercised | $ 1,998,000 |  |
Share-based Payment Arrangement, Option [Member] |  |  |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount (in shares) |  | 455,000 |
The2004 Plan Member |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) | 5,000,000 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) | 5,009,750 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 3 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period (Year) | 5 years |  |
Incentive Plan 2020 [Member] |  |  |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | 1,800,000 |  |
Incentive Plan 2020 [Member] | Restricted Stock [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Year) | 1 year |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 8,912 |  |
Share-based Payment Arrangement, Expense | $ 6,000 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | $ 102,000 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | 343 days |  |

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- Definition Weighted-average period over which cost not yet recognized is expected to be recognized for award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. + 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 (i) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition The cash outflow to reacquire common stock during the period. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 15 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121586364&loc=d3e3291-108585 + Details
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- Definition The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan). + 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)(2)(iii)(1) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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