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Consolidated Balance Sheets (Parentheticals) - USD ($)
shares in Thousands, $ / shares in Thousands, $ in Thousands
Dec. 31, 2016
Dec. 31, 2015
Allowance for doubtful accounts $ 5,281 $ 2,243
Accumulated depreciation $ 167,300 $ 137,853
Preferred stock, par value (in dollars per share) $ 0 $ 0
Preferred stock, shares authorized (in shares) 15,000 15,000
Preferred stock, shares outstanding (in shares) 0 0
Common Class A [Member]    
Common stock, par value (in dollars per share) $ 0 $ 0
Common stock, shares authorized (in shares) 100,000 100,000
Common stock, shares issued (in shares) 23,382 23,676
Common stock, shares outstanding (in shares) 23,382 23,676
Common Class B [Member]    
Common stock, par value (in dollars per share) $ 0 $ 0
Common stock, shares authorized (in shares) 25,000 25,000
Common stock, shares issued (in shares) 1,762 2,542
Common stock, shares outstanding (in shares) 1,762 2,542