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Note 11 - Stockholders' Equity and Stock Incentive Plans - Stock Option Activity (Details) - USD ($)	12 Months Ended
	Dec. 31, 2020	Dec. 31, 2019	Dec. 31, 2018
Outstanding, options (in shares)	887,728	1,179,026	1,542,452
Outstanding, weighted average option price (in dollars per share)	$ 12.48	$ 11.98	$ 11.99
Granted, options (in shares)	0	0	0
Granted, weighted average option price (in dollars per share)	$ 0	$ 0	$ 0
Canceled, options (in shares)	(2,000)	(48,941)	(25,000)
Canceled, weighted average option price (in dollars per share)	$ 8.34	$ 13.72	$ 3.31
Exercised, options (in shares)	(240,380)	(242,357)	(338,426)
Exercised, weighted average option price (in dollars per share)	$ 8.23	$ 9.81	$ 10.47
Outstanding, options (in shares)	645,348	887,728	1,179,026
Outstanding, weighted average option price (in dollars per share)	$ 14.07	$ 12.48	$ 11.98
Outstanding, weighted average remaining term (Year)	4 years 2 months 12 days
Outstanding, aggregate intrinsic value	$ 18,619
Exercisable, options (in shares)	645,348	887,728
Exercisable, weighted average option price (in dollars per share)	$ 14.07	$ 12.48
Exercisable, weighted average remaining term (Year)	4 years 2 months 12 days	4 years 2 months 12 days
Exercisable, aggregate intrinsic value	$ 18,619	$ 15,504

X

- Definition

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

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The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

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Weighted average price of options that were either forfeited or expired.

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Gross number of share options (or share units) granted during the period.

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Amount by which the current fair value of the underlying stock exceeds the exercise price of options outstanding.

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Number of options outstanding, including both vested and non-vested options.

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Weighted average price at which option holders acquired shares when converting their stock options into shares.

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Weighted average per share amount at which grantees can acquire shares of common stock by exercise of options.

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Weighted average remaining contractual term for vested portions of options outstanding and currently exercisable or convertible, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Number of share options (or share units) exercised during the current period.

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