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Note 8 - Commitments and Contingencies (Details Textual) - USD ($)
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Long-term Purchase Commitment, Amount $ 1,247,000    
Unrecognized Tax Benefits, Ending Balance 679,000 $ 652,000 $ 1,189,000
Other Accrued Liabilities, Noncurrent 0 152,000  
Litigation for Intellectual Property Infringement [Member]      
Litigation Settlement, Expense 0 1,111,000  
Litigation Settlement, Expense Capitalized $ 4,698,000 $ 2,289,000