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Note 7 - Share-based Compensation (Tables)
9 Months Ended
Sep. 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
   
(24,757
)
   
11.05
 
Canceled or expired
   
(33,582
)
   
10.87
 
Options outstanding at
September 30
, 2018
   
706,091
     
8.60
 
Options exercisable at end of
September 30
, 2018
   
598,805
    $
8.22
 
Schedule of Compensation Cost for Share-based Payment Arrangements, Allocation of Share-based Compensation Costs by Plan [Table Text Block]
   
Three months ended
September 30
,
   
Nine months
ended
September 30
,
 
   
2018
   
2017
   
2018
   
2017
 
Cost of goods sold
  $
3
    $
5
    $
12
    $
16
 
Sales and marketing
   
8
     
10
     
28
     
31
 
Research and product development
   
23
     
25
     
81
     
80
 
General and administrative
   
78
     
122
     
258
     
341
 
    $
112
    $
162
    $
379
    $
468