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Note 10 - Capital Stock and Stock-based Compensation - Outstanding and Exercisable Options (Details)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2020
USD ($)
$ / shares
shares
Range of Exercise Price, Lower Limit (in dollars per share) $ 1.78
Range of Exercise Price, Upper Limit (in dollars per share) $ 5.63
Options Outstanding, Shares Outstanding (in shares) | shares 2,637,339
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 5 years 7 months 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 3.51
Options Outstanding, Aggregate Intrinsic Value | $ $ 2,493
Options Exercisable, Shares Exercisable (in shares) | shares 1,613,949
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 4 years 6 months
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 4.04
Options Exercisable, Aggregate Intrinsic Value | $ $ 849
Exercise Price Range 1 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 1.78
Range of Exercise Price, Upper Limit (in dollars per share) $ 2.62
Options Outstanding, Shares Outstanding (in shares) | shares 357,018
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 7 years 6 months
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.27
Options Outstanding, Aggregate Intrinsic Value | $ $ 723
Options Exercisable, Shares Exercisable (in shares) | shares 96,488
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 4 years 9 months 18 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 2.29
Options Exercisable, Aggregate Intrinsic Value | $ $ 193
Exercise Price Range 2 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 2.63
Range of Exercise Price, Upper Limit (in dollars per share) $ 2.66
Options Outstanding, Shares Outstanding (in shares) | shares 717,044
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 6 years 4 months 24 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 2.63
Options Outstanding, Aggregate Intrinsic Value | $ $ 1,190
Options Exercisable, Shares Exercisable (in shares) | shares 179,264
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 6 years 4 months 24 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 2.63
Options Exercisable, Aggregate Intrinsic Value | $ $ 298
Exercise Price Range 3 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 2.67
Range of Exercise Price, Upper Limit (in dollars per share) $ 3.92
Options Outstanding, Shares Outstanding (in shares) | shares 568,784
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 7 years 1 month 6 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 3.33
Options Outstanding, Aggregate Intrinsic Value | $ $ 545
Options Exercisable, Shares Exercisable (in shares) | shares 348,704
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 6 years 2 months 12 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 3.36
Options Exercisable, Aggregate Intrinsic Value | $ $ 323
Exercise Price Range 4 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 3.93
Range of Exercise Price, Upper Limit (in dollars per share) $ 4.38
Options Outstanding, Shares Outstanding (in shares) | shares 587,693
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 2 years 10 months 24 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 4.23
Options Outstanding, Aggregate Intrinsic Value | $ $ 35
Options Exercisable, Shares Exercisable (in shares) | shares 587,693
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 2 years 10 months 24 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 4.23
Options Exercisable, Aggregate Intrinsic Value | $ $ 35
Exercise Price Range 5 [Member]  
Range of Exercise Price, Lower Limit (in dollars per share) $ 4.39
Range of Exercise Price, Upper Limit (in dollars per share) $ 5.63
Options Outstanding, Shares Outstanding (in shares) | shares 406,800
Options Outstanding, Weighted Average Remaining Contractual Life (Year) 4 years 3 months 18 days
Options Outstanding, Weighted Average Exercise Price (in dollars per share) $ 5.37
Options Outstanding, Aggregate Intrinsic Value | $ $ 0
Options Exercisable, Shares Exercisable (in shares) | shares 401,800
Options Exercisable. Weighted Average Remaining Contractual Life (Year) 4 years 3 months 18 days
Options Exercisable, Weighted Average Exercise Price (in dollars per share) $ 5.38
Options Exercisable, Aggregate Intrinsic Value | $ $ 0