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Note 11 - Stockholders' Equity and Stock Incentive Plans - Stock Options Outstanding Exercisable (Details) | 12 Months Ended
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Dec. 31, 2019 $ / shares shares
Options outstanding, number outstanding (in shares) | shares | 887,728
Options outstanding, weighted average remaining contractual life (Year) | 4 years 2 months 12 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 12.48
Options exercisable, number exercisable (in shares) | shares | 887,728
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 12.48
Range One [Member] |
Options outstanding, number outstanding (in shares) | shares | 25,510
Options outstanding, weighted average remaining contractual life (Year) | 2 years 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 5.22
Options exercisable, number exercisable (in shares) | shares | 25,510
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 5.22
Range Two [Member] |
Options outstanding, number outstanding (in shares) | shares | 84,353
Options outstanding, weighted average remaining contractual life (Year) | 1 year 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 6.70
Options exercisable, number exercisable (in shares) | shares | 84,353
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 6.70
Range Three [Member] |
Options outstanding, number outstanding (in shares) | shares | 146,065
Options outstanding, weighted average remaining contractual life (Year) | 9 months 18 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 8.34
Options exercisable, number exercisable (in shares) | shares | 146,065
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 8.34
Range Four [Member] |
Options outstanding, number outstanding (in shares) | shares | 202,068
Options outstanding, weighted average remaining contractual life (Year) | 3 years 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 9.86
Options exercisable, number exercisable (in shares) | shares | 202,068
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 9.86
Range Five [Member] |
Options outstanding, number outstanding (in shares) | shares | 123,849
Options outstanding, weighted average remaining contractual life (Year) | 4 years 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 11.57
Options exercisable, number exercisable (in shares) | shares | 123,849
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 11.57
Range Six [Member] |
Options outstanding, number outstanding (in shares) | shares | 169,857
Options outstanding, weighted average remaining contractual life (Year) | 6 years 10 months 24 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 17.75
Options exercisable, number exercisable (in shares) | shares | 169,857
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 17.75
Range 7 [Member] |
Options outstanding, number outstanding (in shares) | shares | 136,026
Options outstanding, weighted average remaining contractual life (Year) | 5 years 9 months 18 days
Options outstanding, weighted average exercise price (in dollars per share) | $ / shares | $ 19.98
Options exercisable, number exercisable (in shares) | shares | 136,026
Options exercisable, weighted average exercise price (in dollars per share) | $ / shares | $ 19.98

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- Definition The number of shares reserved for issuance pertaining to the outstanding exercisable stock options as of the balance sheet date in the customized range of exercise prices for which the market and performance vesting condition has been satisfied. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The number of shares reserved for issuance pertaining to the outstanding stock options as of the balance sheet date for all option plans in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average exercise price as of the balance sheet date for those equity-based payment arrangements exercisable and outstanding. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(iii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition The weighted average price as of the balance sheet date at which grantees could acquire the underlying shares with respect to all outstanding stock options which are in the customized range of exercise prices. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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- Definition Weighted average remaining contractual term of outstanding stock options, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (e)(1) -URI http://asc.fasb.org/extlink&oid=116856206&loc=d3e5070-113901 + Details
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