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Note 20 - Income Tax (Details Textual) - USD ($) $ in Thousands | 3 Months Ended | 12 Months Ended
--- | --- | ---
Dec. 31, 2019 | Sep. 30, 2019 | Jun. 30, 2019 | Mar. 31, 2019 | Dec. 31, 2018 | Sep. 30, 2018 | Jun. 30, 2018 | Mar. 31, 2018 | Dec. 31, 2019 | Dec. 31, 2018
Income Tax Expense (Benefit), Total | $ (452) | $ (54) | $ (885) | $ 576 | $ (3,260) | $ (652) | $ (369) | $ 605 | $ (815) | $ (3,676)
Effective Income Tax Rate Reconciliation, Percent, Total |  |  |  |  |  |  |  |  | 14.80% | 46.10%
Discontinued Operation, Tax Effect of Discontinued Operation, Total |  |  |  |  |  |  |  |  | $ 0 | $ (441)
Deferred Tax Assets, Valuation Allowance, Total | 13,745 |  |  |  | 13,899 |  |  |  | 13,745 | 13,899
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount |  |  |  |  |  |  |  |  | (200) | 2,500
Research and Development Tax Credit Carryforwards Offset by Reserve for Uncertain Tax Positions | 1,000 |  |  |  |  |  |  |  | 1,000 |
Deferred Tax Assets, Tax Credit Carryforwards, Alternative Minimum Tax | 800 |  |  |  |  |  |  |  | 800 |
Deferred Tax Assets, Tax Credit Carryforwards, Total | 3,200 |  |  |  |  |  |  |  | 3,200 |
Cash and Cash Equivalents in Foreign Subsidiaries | 3,500 |  |  |  | 3,200 |  |  |  | 3,500 | 3,200
Tax Liability on Foreign Earnings Repatriated | 55 |  |  |  | 38 |  |  |  | 55 | 38
Unrecognized Tax Benefits, Increase Resulting from Audits |  |  |  |  |  |  |  |  | 100 | 200
Unrecognized Tax Benefits, Increase Resulting from Acquisition |  |  |  |  |  |  |  |  |  | 1,389
Unrecognized Tax Benefits, Increase Resulting from Credits |  |  |  |  |  |  |  |  |  | 800
Unrecognized Tax Benefits, Increase Resulting from State Income Tax Issues |  |  |  |  |  |  |  |  |  | 500
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities |  |  |  |  |  |  |  |  | 398 |
Unrecognized Tax Benefits, Decrease Resulting from Acquisition |  |  |  |  |  |  |  |  | 65 |
Decrease in Unrecognized Tax Benefits is Reasonably Possible | 32 |  |  |  |  |  |  |  | 32 |
Income Tax Examination, Penalties and Interest Accrued, Total | 100 |  |  |  | $ 100 |  |  |  | 100 | 100
Income Tax Examination, Penalties and Interest Expense, Total |  |  |  |  |  |  |  |  | 26 | $ 31
Expire in 2020 [Member] |  |  |  |  |  |  |  |  |  |
Deferred Tax Assets, Tax Credit Carryforwards, Foreign | 200 |  |  |  |  |  |  |  | 200 |
Deferred Tax Assets, Tax Credit Carryforwards, Research | 8,700 |  |  |  |  |  |  |  | 8,700 |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards, Total | 27,200 |  |  |  |  |  |  |  | 27,200 |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Expire between 2019 and 2037 [Member] |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards, Total | 21,900 |  |  |  |  |  |  |  | 21,900 |
State and Local Jurisdiction [Member] |  |  |  |  |  |  |  |  |  |
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities |  |  |  |  |  |  |  |  | 400 |
State and Local Jurisdiction [Member] | Expire between 2020 and 2038 [Member] |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards, Total | 17,800 |  |  |  |  |  |  |  | 17,800 |
Foreign Tax Authority [Member] |  |  |  |  |  |  |  |  |  |
Operating Loss Carryforwards, Total | 5,500 |  |  |  |  |  |  |  | 5,500 |
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities |  |  |  |  |  |  |  |  | 100 |
Foreign Tax Authority [Member] | Research Tax Credit Carryforward [Member] |  |  |  |  |  |  |  |  |  |
Tax Credit Carryforward, Amount | $ 300 |  |  |  |  |  |  |  | $ 300 |

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