Note 14 - Contract Assets and Liabilities 1 (Details Textual) - USD ($) $ in Thousands	Dec. 31, 2020	Mar. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Contract with Customer, Receivable, after Allowance for Credit Loss, Total	$ 800		$ 700	$ 600
License [Member]
Contract with Customer, Liability, Noncurrent	$ 1,767	$ 2,000

Amount, after allowance for credit loss, of right to consideration in exchange for good or service transferred to customer when right to consideration is unconditional.

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 4
-URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130534-203044

Reference 2: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 45
-Paragraph 1
-URI http://asc.fasb.org/extlink&oid=121556615&loc=SL49130531-203044

Reference 3: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 606
-SubTopic 10
-Section 50
-Paragraph 8
-Subparagraph (a)
-URI http://asc.fasb.org/extlink&oid=121604090&loc=SL49130549-203045

Name:	us-gaap_ContractWithCustomerReceivableAfterAllowanceForCreditLoss
Namespace Prefix:	us-gaap_
Data Type:	xbrli:monetaryItemType
Balance Type:	debit
Period Type:	instant