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Note 4 - Share-based Compensation - Stock Option Activity (Details) - Employee and Nonemployee Stock Option [Member]
 9 Months Ended
Sep. 30, 2016
USD ($)
$ / shares
shares
Outstanding, shares under options (in shares) | shares 270,205
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 15.40
Granted, shares under options (in shares) | shares 17,184
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 22.02
Exercised, shares under options (in shares) | shares (44,887)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 11.79
Outstanding, shares under options (in shares) | shares 242,502
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 16.54
Outstanding, weighted average remaining contractual life 3 years 357 days
Outstanding, aggregate intrinsic value | $ $ 2,415
Exercisable, shares under options (in shares) | shares 220,002
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 16.05
Exercisable, weighted average remaining contractual life 4 years 65 days
Exercisable, aggregate intrinsic value | $ $ 2,298
Vested and expected to vest, shares under options (in shares) | shares 242,502
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 16.54
Vested and expected, weighted average remaining contractual life 3 years 357 days
Vested and expected to vest, aggregate intrinsic value | $ $ 2,415