Note 10 - Shareholders' Equity and Stock-based Compensation (Tables)

9 Months Ended

Sep. 30, 2021

Notes Tables

Schedule of Stock Options Roll Forward [Table Text Block]

	Outstanding Awards
	Stock Options			RSUs			Total			Stock Option Weighted-Average Exercise Price (a)		Aggregate Intrinsic Value
Outstanding at December 31, 2020		690			217			907		$	6.51
Awards granted		-			130			130			-
Awards exercised or released		(122	)		(98	)		(220	)		5.73
Outstanding at September 30, 2021		568			249			817		$	6.68	$	11,048
Exercisable at September 30, 2021		568						568		$	6.68	$	6,520
Available for future grant at December 31, 2020								73
Available for future grant at September 30, 2021								471