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Note 8 - Shareholders' Equity - Shareholders' Equity (Details) - USD ($)
$ in Thousands
 3 Months Ended 9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Sep. 30, 2019
Sep. 30, 2018
Balance, beginning of period     $ 52,201  
Foreign currency translation adjustment $ (50) $ (13) (67) $ (51)
Net loss (1,976) (10,142) (6,423) (14,151)
Balance, end of period 45,984 44,736 45,984 44,736
Common Stock Including Additional Paid in Capital [Member]        
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
AOCI Attributable to Parent [Member]        
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 [Member]        
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)