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Note 23 - Quarterly Financial Information (Unaudited) - Schedule of Quarterly Financial Information (Details) - USD ($) $ / shares in Units, $ 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
Revenues	$ 30,972	$ 27,418	$ 29,584	$ 28,202	$ 33,858	$ 28,635	$ 31,522	$ 26,759	$ 116,176	$ 120,774
Cost of revenues	13,738	12,439	13,629	12,048	15,118	12,818	16,167	13,490	51,854	57,593
Gross profit	17,234	14,979	15,955	16,154	18,740	15,817	15,355	13,269	64,322	63,181
Total operating expenses	15,601	16,344	15,727	16,273	16,998	14,927	15,737	14,535	63,945	62,197
Operating (loss) income	1,633	(1,365)	228	(119)	1,742	890	(382)	(1,266)	377	984
Other expense, net	(1,535)	(1,309)	(1,360)	(1,675)	(1,697)	(1,798)	(1,485)	(3,979)	(5,879)	(8,959)
(Loss) income before income taxes	98	(2,674)	(1,132)	(1,794)	45	(908)	(1,867)	(5,245)	(5,502)	(7,975)
Income Tax Expense (Benefit), Total	(452)	(54)	(885)	576	(3,260)	(652)	(369)	605	(815)	(3,676)
Net (loss) income	$ 550	$ (2,620)	$ (247)	$ (2,370)	$ 2,862	$ (256)	$ (1,464)	$ (4,064)	$ (4,687)	$ (2,922)
Basic loss per common share (in dollars per share)	$ 0.02	$ (0.07)	$ (0.01)	$ (0.06)	$ 0.08	$ (0.01)	$ (0.04)	$ (0.11)	$ (0.12)	$ (0.08)
Diluted loss per common share (in dollars per share)	$ 0.02	$ (0.07)	$ (0.01)	$ (0.06)	$ 0.08	$ (0.01)	$ (0.04)	$ (0.11)	$ (0.12)	$ (0.08)
Net (loss) income from continuing operations					$ 3,305	$ (256)	$ (1,498)	$ (5,850)	$ (4,687)	$ (4,299)
Income (loss) from discontinued operations, net of tax					$ (443)	$ 0	$ 34	$ 1,786		$ 1,377
Basic loss per common share from continuing operations (in dollars per share)					$ 0.09	$ (0.01)	$ (0.04)	$ (0.16)	$ (0.12)	$ (0.12)
Basic earnings per common share from discontinued operations (in dollars per share)					(0.01)	0	0	0.05		0.04
Diluted loss per common share from continuing operations (in dollars per share)					0.09	(0.01)	(0.04)	(0.16)	(0.12)	(0.12)
Diluted earnings per common share from discontinued operations (in dollars per share)					$ (0.01)	$ 0	$ 0	$ 0.05		$ 0.04

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