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Note 6 - Share-based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Thousands
3 Months Ended
Mar. 31, 2021
Mar. 31, 2020
Adjustments to Additional Paid in Capital, Income Tax Benefit from Share-based Compensation $ 242 $ 348
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total $ 3,800  
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition (Year) 4 years  
Employee and Nonemployee Stock Option [Member]    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value   530
Proceeds from Stock Options Exercised   $ 415
Shares Paid for Exercise Price and Tax Withholding for Share Based Compensation (in shares) 0 0
Restricted Stock Units (RSUs) [Member]    
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation (in shares) 14,074 11,195
Shares Paid for Tax Withholding for Share Based Compensation Market Price (in dollars per share) $ 52.46 $ 49.99