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Note 7 - Stock-based Compensation - Summary of Stock Option Activity (Details) - USD ($)
 6 Months Ended 12 Months Ended
Jun. 30, 2021
Jun. 30, 2020
Dec. 31, 2020
Dec. 31, 2019
Outstanding (in shares) 417,000 450,000 450,000  
Outstanding, grant date weighted-average exercise price (in dollars per share) $ 2.79 $ 2.78 $ 2.78  
Outstanding, weighted average remaining contractual life (Year)   2 years 1 month 13 days 1 year 7 months 9 days 2 years 5 months 8 days
Outstanding, intrinsic value   $ 0 $ 2,000 $ 27,000
Granted (in shares) 6,000 10,000    
Granted, grant date weighted-average exercise price (in dollars per share) $ 2.92 $ 1.88    
Granted, weighted average remaining contractual life (Year) 7 years 7 years    
Exercised (in shares) (22,000)      
Exercised, grant date weighted-average exercise price (in dollars per share) $ 2.65      
Forfeited (in shares) (7,000) (40,000)    
Forfeited, grant date weighted-average exercise price (in dollars per share) $ 2.51 $ 2.58    
Exercisable (in shares) 383,000 397,000    
Exercisable, grant date weighted-average exercise price (in dollars per share) $ 2.80 $ 2.81    
Exercisable, weighted average remaining contractual life (Year)   1 year 11 months 4 days    
Outstanding (in shares) 394,000 420,000 417,000 450,000
Outstanding, grant date weighted-average exercise price (in dollars per share) $ 2.80 $ 2.78 $ 2.79 $ 2.78
Minimum [Member]        
Outstanding, weighted average remaining contractual life (Year) 1 year 1 month 28 days      
Exercisable, weighted average remaining contractual life (Year) 1 year 7 days      
Maximum [Member]        
Outstanding, intrinsic value $ 15,000