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Note 7 - Share-based Compensation (Tables)
 6 Months Ended
Jun. 30, 2018
Notes Tables  
Share-based Compensation, Stock Options, Activity [Table Text Block]
   
Number of
shares
    
Weighted
average
exercise price
  
                 
Options outstanding at beginning of year
    
764,430
     $
8.78
  
Granted
    
—
      
—
  
Less:
                
Exercised
    
—
      
—
  
Forfeited prior to vesting
    
(22,290
)
    
11.00
  
Canceled or expired
    
(25,285
)
    
11.07
  
Options outstanding at June 30, 2018
    
716,855
      
8.63
  
Options exercisable at end of June 30, 2018
    
581,127
     $
8.13
  
Schedule of Compensation Cost for Share-based Payment Arrangements, Allocation of Share-based Compensation Costs by Plan [Table Text Block]
   
Three months ended June 30,
    
Six months ended June 30,
  
   
2018
    
2017
    
2018
    
2017
  
Cost of goods sold
   $
4
     $
7
     $
9
     $
14
  
Sales and marketing
    
10
      
15
      
20
      
29
  
Research and product development
    
27
      
37
      
57
      
76
  
General and administrative
    
88
      
110
      
180
      
221
  
    $
129
     $
169
     $
266
     $
340