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Note 11 - Stock Based Compensation and Other Plans - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
Dec. 31, 2019
Dec. 31, 2018
The 2008 Plan [Member]      
Covered Shares (in shares) 2,227,211 3,044,927  
Weighted- Average Exercise Price (in dollars per share) $ 1.22 $ 1.01  
Weighted- Average Remaining Contractual Term (Year) 3 years 229 days 4 years 302 days 4 years 200 days
Aggregate Intrinsic Value $ 113 $ 452 $ 103
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)  
Granted, weighted-average exercise price (in dollars per share)  
Exercised/cancelled, covered shares (in shares) 57,500 804,580  
Exercised/cancelled, weighted-average exercise price (in dollars per share) $ 1 $ 0.44  
Forfeited or expired, covered shares (in shares) 711,775 13,136  
Forfeited or expired, weighted-average exercise price (in dollars per share)  
Covered Shares (in shares) 1,457,936 2,227,211 3,044,927
Weighted- Average Exercise Price (in dollars per share) $ 1.31 $ 1.22 $ 1.01
Exercisable, covered shares (in shares) 1,367,936    
Exercisable, weighted-average exercise price (in dollars per share) $ 1.33    
Exercisable, weighted average remaining contractual term (Year) 3 years 164 days    
Exercisable, aggregate intrinsic value $ 101    
The 2018 Plan [Member]      
Covered Shares (in shares) 555,000 235,000  
Weighted- Average Exercise Price (in dollars per share) $ 0.89 $ 1.23  
Weighted- Average Remaining Contractual Term (Year) 7 years 317 days 8 years 321 days 9 years 127 days
Aggregate Intrinsic Value $ 8
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) 320,000  
Granted, weighted-average exercise price (in dollars per share) $ 0.64  
Exercised/cancelled, covered shares (in shares) 18,750  
Exercised/cancelled, weighted-average exercise price (in dollars per share) $ 0.64  
Forfeited or expired, covered shares (in shares) 106,250  
Forfeited or expired, weighted-average exercise price (in dollars per share)  
Covered Shares (in shares) 430,000 555,000 235,000
Weighted- Average Exercise Price (in dollars per share) $ 0.90 $ 0.89 $ 1.23
Exercisable, covered shares (in shares) 281,250    
Exercisable, weighted-average exercise price (in dollars per share) $ 0.90    
Exercisable, weighted average remaining contractual term (Year) 7 years 317 days    
Exercisable, aggregate intrinsic value $ 8    
Inducement Plan [Member]      
Covered Shares (in shares) 200,000  
Weighted- Average Exercise Price (in dollars per share) $ 0.85  
Weighted- Average Remaining Contractual Term (Year)   9 years 244 days
Aggregate Intrinsic Value   $ 60
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) 200,000 200,000  
Granted, weighted-average exercise price (in dollars per share)   $ 0.85  
Exercised/cancelled, covered shares (in shares)    
Exercised/cancelled, weighted-average exercise price (in dollars per share)    
Forfeited or expired, covered shares (in shares)    
Forfeited or expired, weighted-average exercise price (in dollars per share)    
Covered Shares (in shares)   200,000
Weighted- Average Exercise Price (in dollars per share)   $ 0.85
Exercisable, covered shares (in shares)    
Exercisable, weighted-average exercise price (in dollars per share)    
Exercisable, weighted average remaining contractual term (Year)    
Exercisable, aggregate intrinsic value