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Note 12 - 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, 2018
USD ($)
$ / shares
shares
Outstanding (in shares) | shares 202,739
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 18.23
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross | shares 10,344
Granted, weighted average exercise price (in dollars per share) | $ / shares $ 31.20
Exercised (in shares) | shares (78,680)
Exercised, weighted average exercise price (in dollars per share) | $ / shares $ 31.43
Outstanding (in shares) | shares 134,403
Outstanding, weighted average exercise price (in dollars per share) | $ / shares $ 20.46
Outstanding, weighted average remaining contractual life (Year) 4 years 182 days
Outstanding, aggregate intrinsic value | $ $ 1,296
Exercisable (in shares) | shares 126,543
Exercisable, weighted average exercise price (in dollars per share) | $ / shares $ 19.97
Exercisable, weighted average remaining contractual life (Year) 4 years 193 days
Exercisable, aggregate intrinsic value | $ $ 1,286
Vested and expected to vest (in shares) | shares 134,403
Vested and expected to vest, weighted average exercise price (in dollars per share) | $ / shares $ 20.46
Vested and expected to vest, weighted average remaining contractual life (Year) 4 years 182 days
Vested and expected to vest, aggregate intrinsic value | $ $ 1,296