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Note 15 - Stock-based Compensation (Details) - USD ($) | 12 Months Ended
--- | ---
Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016
Remaining shares of common stock available for grant | 302,066 |  |
Expected life | 10 years |  |
Minimum |  |  |
Vesting period | 3 years |  |
Maximum |  |  |
Vesting period | 7 years |  |
The 2008 Equity Incentive Plan [Member] |  |  |
Shares of common stock authorized | 250,000 |  |
2010 Equity Incentive Plan [Member] |  |  |
Shares of common stock authorized | 350,000 |  |
The 2013 Equity Incentive Plan [Member] |  |  |
Shares of common stock authorized | 350,000 |  |
The 2016 Equity Incentive Plan [Member] |  |  |
Shares of common stock authorized | 400,000 |  |
Employee Stock Purchase Plan |  |  |
Remaining shares of common stock available for grant | 175,507 |  |
Maximum amount any one participant can elect in an offering period | $ 10,000 |  |
Maximum amount any one particpant can contribute (as a percent) | 10.00% | 8.00% | 8.00%

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- Definition Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + 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 (a)(1) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition The maximum number of shares (or other type of equity) originally approved (usually by shareholders and board of directors), net of any subsequent amendments and adjustments, for awards under the equity-based compensation plan. As stock or unit options and equity instruments other than options are awarded to participants, the shares or units remain authorized and become reserved for issuance under outstanding awards (not necessarily vested). + 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 (a)(3) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + 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 -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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