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Note 3 - Recent Accounting Pronouncements (Details Textual) - USD ($) | 3 Months Ended | 9 Months Ended |  |
--- | --- | --- | --- | ---
Sep. 30, 2018 | Oct. 01, 2017 | Sep. 30, 2018 | Oct. 01, 2017 | Jan. 01, 2018 | Dec. 31, 2017
Retained Earnings (Accumulated Deficit), Ending Balance | $ (114,738,000) |  | $ (114,738,000) |  | $ (111,421,000) | $ (111,591,000)
Revenue from Contract with Customer, Including Assessed Tax | 21,101,000 | $ 21,371,000 | 64,014,000 | $ 60,805,000 |  |
Net Income (Loss) Attributable to Parent, Total | $ (2,336,000) | $ (3,133,000) | $ (3,317,000) | $ (9,588,000) |  |
Earnings Per Share, Basic, Total | $ (0.11) | $ (0.15) | $ (0.16) | $ (0.47) |  |
Operating Income (Loss), Total | $ (2,014,000) | $ (2,755,000) | $ (4,182,000) | $ (10,579,000) |  |
Other Nonoperating Income (Expense), Total | (56,000) | $ (115,000) | 1,651,000 | 1,663,000 |  |
Accounting Standards Update 2014-09 [Member] |  |  |  |  |  |
Retained Earnings (Accumulated Deficit), Ending Balance |  |  |  |  | $ 170,000 |
Accounting Standards Update 2014-09 [Member] | Difference between Revenue Guidance in Effect before and after Topic 606 [Member] |  |  |  |  |  |
Retained Earnings (Accumulated Deficit), Ending Balance | 285,000 |  | 285,000 |  |  |
Revenue from Contract with Customer, Including Assessed Tax | (24,000) |  | 1,002,000 |  |  |
Net Income (Loss) Attributable to Parent, Total | $ (71,000) |  | $ 115,000 |  |  |
Earnings Per Share, Basic, Total | $ (0.01) |  | $ 0.01 |  |  |
Operating Income (Loss), Total | $ (71,000) |  | $ 115,000 |  |  |
Other Nonoperating Income (Expense), Total | $ 0 |  | $ 0 |  |  |
Accounting Standards Update 2017-07 [Member] |  |  |  |  |  |
Operating Income (Loss), Total |  |  |  | 299,000 |  |
Other Nonoperating Income (Expense), Total |  |  |  | $ 299,000 |  |

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