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Note 13 - Income Taxes (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2015
Dec. 31, 2014
Dec. 31, 2013
Income Tax Examination, Penalties and Interest Expense     $ 0
Tax Credit Carry Forward State Research and Development $ 16,275,000    
Tax Credit Carryforward State Manufacturing 3,132,000    
Unrecognized Tax Benefits, Interest on Income Taxes Expense 174,000 $ 86,000  
Unrecognized Tax Benefits, Income Tax Penalties Expense 363,000 $ 263,000  
Undistributed Earnings of Foreign Subsidiaries $ 11,430,000