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Note 8 - Share-based Compensation (Details Textual) - USD ($)
3 Months Ended 6 Months Ended
Jan. 29, 2020
Jun. 30, 2021
Jun. 30, 2020
Jun. 30, 2021
Jun. 30, 2020
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) $ 5.32     $ 3.61  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in shares) 515,036     717,935  
Share-based Payment Arrangement, Expensed and Capitalized, Amount, Total $ 569,000        
Share-based Payment Arrangement, Expense 412,000 $ 384,000 $ 655,000 $ 800,000 $ 1,596,000
Share-based Payment Arrangement, Amount Capitalized $ 157,000        
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Weighted Average Award Vesting Period (Year) 3 years        
Non-employee Directors and Employees [Member]          
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total   3,300,000   $ 3,300,000  
Non-employee Directors and Employees [Member] | Share-based Payment Arrangement, Option [Member]          
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       2 years 10 months 24 days  
Non-employee Directors and Employees [Member] | Restricted Stock Units (RSUs) [Member]          
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year)       7 months 6 days  
Share-based Payment Arrangement, Nonvested Award, Excluding Option, Cost Not yet Recognized, Amount   $ 67,000   $ 67,000  
Minimum [Member]          
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) $ 10.05        
Maximum [Member]          
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in dollars per share) $ 97.21