Note 11 - Equity Incentive Plan - Granted and Exercised Stock-based Compensation Awards (Details) - shares	3 Months Ended
Mar. 31, 2021	Mar. 31, 2020
Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares)	421,463	210,775
Exercises (in shares)	125	0
Forfeitures (in shares)	73,156	33,478
Expirations (in shares)	2,667	363
Restricted Stock Units (RSUs) [Member]
Grants (in shares)	258,417	100,631
Forfeitures (in shares)	4,092	63,683
Performance Restricted Stock Units [Member]
Grants (in shares)	0	57,400
Forfeitures (in shares)	2,500	63,000
Restricted Stock [Member]
Forfeitures (in shares)	0	8,574

The number of equity-based payment instruments, excluding stock (or unit) options, that were forfeited during the reporting period.

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- Definition

The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

+ References

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- Definition

Number of options or other stock instruments for which the right to exercise has lapsed under the terms of the plan agreements.

+ References

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The number of shares under options that were cancelled during the reporting period as a result of occurrence of a terminating event specified in contractual agreements pertaining to the stock option plan.

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Gross number of share options (or share units) granted during the period.

+ References

No definition available.

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Number of share options (or share units) exercised during the current period.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iv)(2)
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-Name Accounting Standards Codification
-Topic 505
-SubTopic 10
-Section S99
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-URI http://asc.fasb.org/extlink&oid=120397183&loc=d3e187085-122770

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-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
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Reference 5: http://fasb.org/us-gaap/role/ref/legacyRef
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