If you fully charge the battery, then run it down a small amount (a few percent) it won't charge it back up again. This is for complicated technical reasons to do with battery longevity.
IIRC the magic number is 95%. If you discharge your Mac down to 96%, it will sit at 96% forever until you discharge it below 95%. Then it will charge back up to 100%.
So I think your behaviour is normal.
You can check by using your Mac on its battery for 15 minutes or so, until it has dropped below the magic 95% (if that's the right number). Then if you plug it back in it should charge back up to 100%.
I think this is written up somewhere on the Apple site.