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Note D - Financing Arrangements (Details Textual) - USD ($)
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Jun. 30, 2015
Interest Expense, Debt $ 20,000 $ 122,000 $ 134,000  
Operating Leases, Rent Expense 1,100,000 1,000,000 $ 1,100,000  
Line of Credit Maturing November 2017 [Member]        
Line of Credit Facility, Maximum Borrowing Capacity   20,000,000    
Line of Credit Facility, Remaining Borrowing Capacity 20,000,000 $ 20,000,000    
Line of Credit Maturing November 2017 [Member] | London Interbank Offered Rate (LIBOR) [Member]        
Debt Instrument, Basis Spread on Variable Rate   0.75%    
Line of Credit Maturing May 2016 [Member]        
Line of Credit Facility, Maximum Borrowing Capacity   $ 8,000,000    
Line of Credit Facility, Remaining Borrowing Capacity 3,200,000 3,900,000    
Letters of Credit Outstanding, Amount 4,800,000 $ 4,100,000    
Line of Credit Maturing May 2016 [Member] | London Interbank Offered Rate (LIBOR) [Member]        
Debt Instrument, Basis Spread on Variable Rate   0.75%    
Bank Guarantee [Member]        
Line of Credit Facility, Maximum Borrowing Capacity       $ 3,000,000
Line of Credit Facility, Remaining Borrowing Capacity 600,000      
Letters of Credit Outstanding, Amount $ 2,400,000      
Line of Credit Facility, Interest Rate at Period End       1.75%