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Note 22 - Segment and Related Information (Tables)
12 Months Ended
Dec. 31, 2019
Notes Tables  
Schedule of Disclosure on Geographic Areas, Long-Lived Assets in Individual Foreign Countries by Country [Table Text Block]
    December 31,
    2019   2018
    (in thousands)
United States   $
35,409
    $
42,222
 
Germany    
4,142
     
5,022
 
United Kingdom    
320
     
585
 
Rest of the world    
2,176
     
2,601
 
Total long-lived assets (a)   $
42,047
    $
50,430
 
Schedule of Net Assets By Geographic Areas [Table Text Block]
    December 31,
    2019   2018
    (in thousands)
United States   $
37,726
    $
38,921
 
Germany    
17,340
     
17,261
 
United Kingdom    
11,254
     
10,473
 
Rest of the world    
15,374
     
16,069
 
Total net assets   $
81,694
    $
82,724