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Note 8 - Shareholders' Equity
 9 Months Ended
Sep. 30, 2019
Notes to Financial Statements  
Stockholders' Equity Note Disclosure [Text Block]
8.
Shareholders' Equity
 
   
Three months ended
September 30,
    
Nine months ended
September 30,
  
   
2019
    
2018
    
2019
    
2018
  
Common stock and additional paid-in capital
  
 
 
 
  
 
 
 
  
 
 
 
  
 
 
 
Balance, beginning of period
   $
58,002
     $
47,758
     $
57,857
     $
47,472
  
Share-based compensation expense
    
48
      
113
      
177
      
379
  
Proceeds from employee stock purchase plan
    
4
      
12
      
20
      
32
  
Balance, end of period
   $
58,054
     $
47,883
      
58,054
      
47,883
  
                                 
Accumulated other comprehensive loss
  
 
 
 
  
 
 
 
  
 
 
 
  
 
 
 
Balance, beginning of period
   $
(44
)
   $
(174
)
   $
(181
)
   $
(65
)
Unrealized gain (loss) on available-for-sale securities, net of tax
    
(78
)
    
(21
)
    
76
      
(92
)
Foreign currency translation adjustment
    
(50
)
    
(13
)
    
(67
)
    
(51
)
Balance, end of period
   $
(172
)
   $
(208
)
   $
(172
)
   $
(208
)
                                 
Retained earnings (accumulated deficit)
  
 
 
 
  
 
 
 
  
 
 
 
  
 
 
 
Balance, beginning of period
   $
(9,922
)
   $
7,203
     $
(5,475
)
   $
9,160
  
Stock repurchased
    
—
      
—
      
—
      
(147
)
Cash dividends, $0.07 per share
    
—
      
—
      
—
      
(583
)
Impact on retained earnings for change in revenue recognition policy
    
—
      
—
      
—
      
2,782
  
Net loss
    
(1,976
)
    
(10,142
)
    
(6,423
)
    
(14,151
)
Balance, end of period
   $
(11,898
)
   $
(2,939
 )   $
(11,898
)
   $
(2,939
)
                                 
Total shareholders' equity
   $
45,984
     $
44,736
     $
45,984
     $
44,736