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Note 2 - Summary of Significant Accounting Policies (Details Textual) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2019 | Dec. 31, 2018
Accounts Receivable, Allowance for Credit Loss, Ending Balance | $ 438,000 | $ 533,000
Accounts Receivable, Credit Loss Expense (Reversal) | 83,000 | 196,000
Depreciation, Amortization and Accretion, Net, Total | 1,700,000 | 1,500,000
Capitalized Computer Software, Gross | 1,300,000 |
Capitalized Computer Software, Amortization | 1,300,000 | 1,200,000
Goodwill, Impairment Loss | 0 | 0
Share-based Payment Arrangement, Expense | $ 235,000 | $ 221,000
Computer Software, Intangible Asset [Member] |  |
Finite-Lived Intangible Asset, Useful Life (Year) | 3 years |
Minimum [Member] |  |
Property, Plant and Equipment, Useful Life (Year) | 3 years |
Maximum [Member] |  |
Property, Plant and Equipment, Useful Life (Year) | 7 years |

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