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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