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Note 15 - Stock-based Compensation (Details Textual) - USD ($)
3 Months Ended 9 Months Ended 12 Months Ended
May 17, 2017
Sep. 30, 2020
Sep. 30, 2019
Sep. 30, 2020
Sep. 30, 2019
Dec. 31, 2019
Jan. 31, 2017
Share-based Payment Arrangement, Expense   $ 167,000 $ 147,000 $ 494,000 $ 543,000    
Employee Service, Share Based Compensation Tax Expense From Compensation Expense   0 $ 38,000 26,000 78,000    
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount   $ 393,000   393,000      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value       $ 221,000   $ 484,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Nonvested, Number of Shares, Ending Balance (in shares)   90,000   90,000   76,500  
Share-based Compensation Arrangement by Share-based Payment Award, Option, Nonvested, Weighted Average Exercise Price, Ending Balance (in dollars per share)   $ 5.35   $ 5.35   $ 6.32  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares)       56,498   200,629  
Proceeds from Stock Options Exercised       $ 712,000 $ 2,694,000 $ 2,800,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value       $ 389,000   $ 1,200,000  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       1 year 8 months 12 days      
Stock Option Plan 2010 [Member]              
Share Based Compensation, Arrangement By Share Based Payment Award, Common Stock Reserved As Percentage Of Issued And Outstanding             30.00%
Common Stock, Capital Shares Reserved for Future Issuance (in shares)             3,494,478
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized (in shares) 0            
Omnibus Stock Incentive Plan [Member]              
Share Based Compensation, Arrangement By Share Based Payment Award, Common Stock Reserved As Percentage Of Issued And Outstanding 30.00%            
Common Stock, Capital Shares Reserved for Future Issuance (in shares) 3,848,341            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares)   1,239,045   1,239,045      
Share-based Compensation Arrangement by Share-based Payment Award, Percentage of Outstanding Stock Maximum       6.28%