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Note 10 - Stockholders' Equity and Stock-based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Apr. 20, 2021
Feb. 16, 2021
Mar. 31, 2021
Mar. 31, 2020
Apr. 26, 2021
Dec. 31, 2020
Common Stock, Par or Stated Value Per Share (in dollars per share)     $ 0.01     $ 0.01
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)     481,786 669,209    
Share-based Payment Arrangement, Expense     $ 300 $ 600    
Subsequent Event [Member]            
Stock Issued During Period, Shares, New Issues (in shares) 10,900,000          
Common Stock, Par or Stated Value Per Share (in dollars per share) $ 0.01          
Restricted Stock and Restricted Stock Units [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Nonvested, Number, Ending Balance (in shares)     689,931 903,204   732,707
Stock Appreciation Rights (SARs) [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance (in shares)     662,591 937,597   754,582
Share-based Payment Arrangement, Expense     $ 0 $ 1,100    
The Securities Purchase Agreement [Member]            
Stock Issued During Period, Shares, New Issues (in shares)   2,990,001        
Common Stock, Par or Stated Value Per Share (in dollars per share)   $ 0.01        
Shares Issued, Price Per Share (in dollars per share)   $ 3.50        
Proceeds from Issuance of Common Stock, Gross   $ 10,500        
At-the-market Program [Member] | Subsequent Event [Member]            
Equity Offering Program, Maximum Sale Amount         $ 10,000