Note 10 - Stock-based Compensation Expense (Details Textual) - USD ($) | Aug. 03, 2020 | May 04, 2020 | Jan. 04, 2017 | Mar. 31, 2020 | Dec. 31, 2021 | Dec. 31, 2020 | Dec. 31, 2017 | Jun. 30, 2021 | Dec. 31, 2019 |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 258,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 420,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value (in dollars per share) | | | | | $ 1.10 | $ 0.78 | | | |
Options Issued During Period, Cashless Stock Options Exercised (in shares) | | | | | 5,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period (in shares) | | | | | 22,000 | 0 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | | | | | | $ 0 | | | |
Proceeds from Stock Options Exercised | | | | | $ 5,000 | $ 0 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period Using Cash (in shares) | | | | | 2,000 | | | | |
Stock Repurchase Program, Number of Shares Authorized to be Repurchased (in shares) | | | | | 1,000,000 | | | | |
Stock Repurchased During Period, Shares (in shares) | | | | | 0 | 0 | | | |
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased (in shares) | | | | | 72,000 | | | | |
Restricted Stock Units (RSUs) [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 165,000 | 144,000 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 168,000 | 134,000 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number, Ending Balance (in shares) | | | | | 10,000 | 13,000 | | | 3,000 |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 130,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 331,000 | | | | |
Restricted Stock Units (RSUs) [Member] | Non Employee Directors and Corporate Secretary [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 2,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 12,000 | | | | |
Restricted Stock Units (RSUs) [Member] | Non Employee Directors [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 121,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 75,000 | | | | |
Share-based Payment Arrangement, Option [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 5,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 2,000 | $ 17,000 | | | |
Share-based Payment Arrangement, Expense, Tax Benefit | | | | | | 0 | | | |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | | | | | 4 years | | | | |
Share-based Payment Arrangement, Nonvested Award, Option, Cost Not yet Recognized, Amount | | | | | $ 10,000 | | | | |
Incentive Compensation Plan [Member] | | | | | | | | | |
Common Stock, Capital Shares Reserved for Future Issuance (in shares) | | | | | | | | 2,580,000 | |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant (in shares) | | | | | 1,453,000 | | | | |
Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 621,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 123,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Vested And Expected To Vest, Outstanding, Number (in shares) | | | | | 487,000 | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number, Ending Balance (in shares) | | | | | 10,000 | | | | |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | | | | | $ 20,000 | | | | |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) | | | | | 4 years | | | | |
Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | Employees [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 20,000 | | | | |
Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 220,000 | | | | |
Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | Non Employee Directors and Corporate Secretary [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 53,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 12,000 | | | | |
Share-based Payment Arrangement, Expense, Tax Benefit | | | | | $ 3,000 | | | | |
Incentive Compensation Plan [Member] | Restricted Stock Units (RSUs) [Member] | Non Employee Directors [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | | | 328,000 | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 75,000 | | | | |
Executive Equity Awards [Member] | Restricted Stock Units (RSUs) [Member] | | | | | | | | | |
Share-based Payment Arrangement, Expense | | | | | $ 331,000 | $ 195,000 | | | |
Executive Equity Awards [Member] | Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | 10,000 | 50,000 | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period (in shares) | | | | | 120,000 | 90,000 | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period (Day) | 30 days | | | | | | | | |
Stock Issued During Period, Shares, Issued for Services (in shares) | | | | | 120,000 | 100,000 | | | |
Executive Equity Awards [Member] | Restricted Stock Units (RSUs) [Member] | Senior Vice President [Member] | | | | | | | | | |
Stock Issued During Period, Shares, Issued for Services (in shares) | | | | | | 10,000 | | | |
Performance Share Award Agreement [Member] | Performance Shares [Member] | | | | | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period (in shares) | | | 161,766 | | | | | | |
Share-based Payment Arrangement, Expense | | | | | | | $ 108,000 | | |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total | | | | $ 421,000 | | | | | |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Forfeited in Period (in shares) | | | | 129,000 | | | | | |