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Note 9 - Stock-based Compensation - Stock Option Activity (Details)
 6 Months Ended
Jun. 30, 2019
$ / shares
shares
Options outstanding at beginning of year (in shares) | shares 624,256
Options outstanding at beginning of year (in dollars per share) | $ / shares $ 8.87
Number of shares, granted (in shares) | shares
Weighted average exercise price, granted (in dollars per share) | $ / shares
Number of shares, exercised (in shares) | shares
Weighted average exercise price, exercised (in dollars per share) | $ / shares
Number of shares, forfeited prior to vesting (in shares) | shares (574)
Weighted average exercise price, forfeited prior to vesting (in dollars per share) | $ / shares $ 11.97
Number of shares, canceled or expired (in shares) | shares (74,671)
Weighted average exercise price, canceled or expired (in dollars per share) | $ / shares $ 7.66
Options outstanding at September 30, 2019 (in shares) | shares 549,011
Options outstanding at September 30, 2019 (in dollars per share) | $ / shares $ 9.03
Options exercisable at end of September 30, 2019 (in shares) | shares 520,286
Options exercisable at end of September 30, 2019 (in dollars per share) | $ / shares $ 8.96