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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