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Note 17 - Stock Option and Purchase Plans (Tables)
12 Months Ended
Dec. 31, 2019
Notes Tables  
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
   
Year ended December 31,
 
   
2019
   
2018
 
Expected life (years)
   
4.0
     
4.0
 
Expected volatility
   
53.9
%    
51.8
%
Risk-free interest rates
   
2.30
%    
2.65
%
Expected dividend yield
   
0.0
%    
0.0
%
Share-based Payment Arrangement, Restricted Stock Unit, Activity [Table Text Block]
   
 
 
 
 
Weighted-
   
Weighted-
   
 
 
 
   
 
 
 
 
average
   
average
   
Aggregate
 
   
Number of
   
Grant Date
   
Remaining
   
Intrinsic
 
   
Shares
   
Fair Value
   
Term
   
Value
 
Nonvested shares at January 1, 2019
   
843,000
    $
1.01
     
 
     
 
 
Granted
   
0
     
0
     
 
     
 
 
Vested
   
(508,500
)    
0.99
     
 
     
 
 
Forfeited
   
(10,000
)    
1.06
     
 
     
 
 
Nonvested shares at December 31, 2019
   
324,500
    $
1.03
     
0.61
    $
253,000
 
Share-based Payment Arrangement, Option, Activity [Table Text Block]
   
 
 
 
 
Weighted-
   
Weighted-
   
 
 
 
   
 
 
 
 
average
   
average
   
Aggregate
 
   
Number of
   
Exercise Price
   
Remaining
   
Intrinsic
 
   
Shares
   
Per Share
   
Term
   
Value
 
Outstanding at January 1, 2019
   
2,326,250
    $
1.47
     
 
     
 
 
Granted
   
706,000
     
1.06
     
 
     
 
 
Exercised
   
0
     
0
     
 
     
 
 
Forfeited
   
(160,000
)    
1.48
     
 
     
 
 
Expired
   
(304,500
)    
2.33
     
 
     
 
 
Outstanding at December 31, 2019
   
2,567,750
    $
1.26
     
2.31
    $
0
 
Exercisable at December 31, 2019
   
1,010,500
    $
1.21
     
0.41
    $
0