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Note 11 - Subsequent Event (Details Textual) - USD ($)
3 Months Ended
Apr. 01, 2019
Mar. 31, 2019
Mar. 31, 2018
Business Combination, Acquisition Related Costs   $ 208,000
Astero [Member] | Subsequent Event [Member]      
Business Acquisition, Percentage of Voting Interests Acquired 100.00%    
Payments to Acquire Businesses, Gross $ 8,000,000    
Astero [Member] | Subsequent Event [Member] | Product Development Milestone [Member]      
Business Combination, Contingent Consideration Arrangements, Range of Outcomes, Value, High 4,500,000    
Astero [Member] | Subsequent Event [Member] | Revenue Targets [Member]      
Business Combination, Contingent Consideration Arrangements, Range of Outcomes, Value, High $ 8,000,000