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Note 12 - Stock Option and Equity Incentive Plans (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
12 Months Ended
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