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Note 14 - Income Tax (Details Textual) - USD ($) $ in Thousands | 12 Months Ended
--- | ---
Dec. 31, 2020 | Dec. 31, 2019
Effective Income Tax Rate Reconciliation, Percent, Total | (7.10%) | 14.80%
Deferred Tax Assets, Valuation Allowance, Total | $ 16,682 | $ 13,745
Valuation Allowance, Deferred Tax Asset, Increase (Decrease), Amount | 2,900 | (200)
Valuation Allowance, US Deferred Tax Assets and UK Pension Assets, Increase (Decrease), Amount | 700 |
Research and Development Tax Credit Carryforwards Offset by Reserve for Uncertain Tax Positions | 1,000 |
Deferred Tax Assets, Tax Credit Carryforwards, Alternative Minimum Tax | 800 |
Deferred Tax Assets, Tax Credit Carryforwards, Total | 3,200 |
Cash and Cash Equivalents in Foreign Subsidiaries | 2,500 | 3,500
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities | 39 | 398
Unrecognized Tax Benefits, Decrease Resulting from Acquisition |  | 65
Unrecognized Tax Benefits, Increase Resulting from Audits |  | 100
Unrecognized Tax Benefits, Increase Resulting from Credits | 300 |
Unrecognized Tax Benefits, Increase Resulting from State Income Tax Issues | 100 |
Decrease in Unrecognized Tax Benefits is Reasonably Possible | 300 |
Unrecognized Tax Benefits that Would Impact Effective Tax Rate | 1,700 |
Tax Cuts and Jobs Act, Change in Tax Rate Operating Loss Carryforwards From Acquisition, CARES Act | 5,300 |
Deferred Tax Assets, Valuation Allowance, Increase (Decrease) Due to Change in Tax Rate Operating Loss Carryforward From Acquisition CARES Act | 1,100 |
Expire 2021 [Member] |  |
Tax Credit Carryforward, Amount | 200 |
Deferred Tax Assets, Tax Credit Carryforwards, Research | 8,500 |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] |  |
Operating Loss Carryforwards, Total | 28,100 |
Domestic Tax Authority [Member] | Internal Revenue Service (IRS) [Member] | Expire Between 2021 and 2037 [Member] |  |
Operating Loss Carryforwards, Total | 22,800 |
State and Local Jurisdiction [Member] |  |
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities |  | 400
State and Local Jurisdiction [Member] | Expire between 2021 and 2040 [Member] |  |
Operating Loss Carryforwards, Total | 19,000 |
Foreign Tax Authority [Member] |  |
Operating Loss Carryforwards, Total | 7,300 |
Unrecognized Tax Benefits, Decrease Resulting from Settlements with Taxing Authorities |  | $ 100
Foreign Tax Authority [Member] | Research Tax Credit Carryforward [Member] |  |
Tax Credit Carryforward, Amount | $ 200 |

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