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Note 9 - Stock-based Compensation (Tables)
9 Months Ended
Sep. 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
   
(574
)
   
11.97
 
Canceled or expired
   
(74,671
)
   
7.66
 
Options outstanding at September 30, 2019
   
549,011
     
9.03
 
Options exercisable at end of September 30, 2019
   
520,286
    $
8.96
 
Share-based Payment Arrangement, Cost by Plan [Table Text Block]
   
Three months ended
September 30,
   
Nine months ended
September 30,
 
   
2019
   
2018
   
2019
   
2018
 
Cost of goods sold
  $
2
    $
3
    $
6
    $
12
 
Sales and marketing
   
     
8
     
1
     
28
 
Research and product development
   
11
     
23
     
34
     
81
 
General and administrative
   
35
     
78
     
136
     
258
 
    $
48
    $
112
    $
177
    $
379