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Note 11 - Stock Option and Equity Incentive Plans - Summary of Stock Option Activity (Details) - Employee and Nonemployee Stock Option [Member]
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2017
USD ($)
$ / shares
shares
Outstanding (in shares) | shares 232,578
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 16.53
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross | shares 27,336
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 27.96
Exercised (in shares) | shares (53,785)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 27.09
Cancelled or expired (in shares) | shares (3,750)
Cancelled or expired, weighted average exercise price (in dollars per share) | $ / shares $ 18.85
Outstanding (in shares) | shares 202,379
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 18.23
Outstanding, weighted average remaining contractual life (Year) 3 years 167 days
Outstanding, aggregate intrinsic value | $ $ 1,950
Exercisable (in shares) | shares 186,129
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 17.43
Exercisable, weighted average remaining contractual life (Year) 3 years 153 days
Exercisable, aggregate intrinsic value | $ $ 1,933
Vested and expected to vest (in shares) | shares 202,379
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 18.23
Vested and expected to vest, weighted average remaining contractual life (Year) 3 years 167 days
Vested and expected to vest, aggregate intrinsic value | $ $ 1,950