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Note 9 - Share-based Compensation (Tables)
6 Months Ended
Jun. 30, 2019
Notes Tables  
Share-based Payment Arrangement, Option, Activity [Table Text Block]
   
Number
of shares
   
Weighted
average
exercise
price
 
                 
Options outstanding at beginning of year
   
624,256
    $
8.87
 
Granted
   
     
 
Less:
               
Exercised
   
     
 
Forfeited prior to vesting
   
     
 
Canceled or expired
   
(54,671
)
   
9.44
 
Options outstanding at
June 30
, 2019
   
569,585
     
8.81
 
Options exercisable at end of
June 30
, 2019
   
527,352
    $
8.63
 
Share-based Payment Arrangement, Cost by Plan [Table Text Block]
   
Three months ended June 30,
   
Six months ended June 30,
 
   
2019
   
2018
   
2019
   
2018
 
Cost of goods sold
  $
2
    $
4
    $
4
    $
9
 
Sales and marketing
   
     
10
     
1
     
20
 
Research and product development
   
11
     
27
     
23
     
57
 
General and administrative
   
42
     
88
     
101
     
180
 
    $
55
    $
129
    $
129
    $
266