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Note 12 - Stock Option and Equity Incentive Plans (Details Textual) - USD ($) $ / shares in Units, $ in Thousands | 12 Months Ended
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Dec. 31, 2020 | Dec. 31, 2019 | Dec. 31, 2018
Adjustments to Additional Paid in Capital, Income Tax Benefit from Share-based Compensation |  |  | $ 167
Share-based Payment Arrangement [Member] |  |  |
Adjustments to Additional Paid in Capital, Income Tax Benefit from Share-based Compensation | $ 734 | $ 653 | 544
Employee and Nonemployee Stock Option [Member] |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | 800 | 1,000 | 1,200
Proceeds from Stock Options Exercised | $ 500 | $ 700 | $ 1,300
Shares Paid for Exercise Price and Tax Withholding for Share Based Compensation (in shares) | 0 | 0 | 0
Restricted Stock Units (RSUs) [Member] |  |  |
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) | 11,423 | 8,341 | 5,238
Shares Paid for Tax Withholding for Share Based Compensation Market Price (in dollars per share) | $ 49.91 | $ 33.69 | $ 27.60

X
- Definition Represents the number of shares the employees use to repay the employer for the exercise price and income tax withholding obligations. + References No definition available. + Details
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Data Type: | xbrli:sharesItemType
Balance Type: | na
Period Type: | duration

X
- Definition For net-share settlement of share-based awards when the employer settles employees' income tax withholding obligations, this element represents the market price per share of shares used by the employees to repay the employer. + References No definition available. + Details
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X
- Definition Amount of increase in additional paid in capital (APIC) resulting from a tax benefit associated with share-based compensation plan other than an employee stock ownership plan (ESOP). Includes, but is not limited to, excess tax benefit. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=109259400&loc=d3e21463-112644 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=120397183&loc=d3e187085-122770 Reference 3: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 740 -Section 45 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=120384995&loc=d3e23524-113945 + Details
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X
- Definition Amount of cash inflow from exercise of option under share-based payment arrangement. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2A -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=120381028&loc=SL79508275-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 230 -SubTopic 10 -Section 45 -Paragraph 14 -Subparagraph (a) -URI http://asc.fasb.org/extlink&oid=121586364&loc=d3e3255-108585 + Details
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X
- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + 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 (d)(2) -URI http://asc.fasb.org/extlink&oid=120381028&loc=d3e5070-113901 + Details
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- Definition Number of shares used to settle grantee's tax withholding obligation for award under share-based payment arrangement. + References No definition available. + Details
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