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Note 6 - Income Taxes - Reconciliation of Income Tax Expense By Applying the Statutory Federal Rate (Details) - USD ($)	12 Months Ended
	Dec. 31, 2017	Dec. 31, 2016	Dec. 31, 2015
Income taxes at statutory rate	$ 13,782,000	$ 12,769,000	$ 13,043,000
State and local income taxes, net of federal tax benefit	555,000	576,000	680,000
Research and development tax credits	(295,000)	(371,000)	(380,000)
Domestic production activities deduction	(1,191,000)	(822,000)	(964,000)
Lower foreign taxes differential	(842,000)	(820,000)	(476,000)
Uncertain tax positions	346,000	(93,000)	26,000
Valuation allowance	100,000		(59,000)
Federal tax reform – deferred rate change	(1,624,000)
Deemed mandatory repatriation	1,370,000
Effective Income Tax Rate Reconciliation, Foreign Withholding Tax, Amount	600,000
Other	22,000	360,000	287,000
Income tax	$ 12,823,000	$ 11,599,000	$ 12,157,000

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Amount of the difference between reported income tax expense (benefit) and expected income tax expense (benefit) computed by applying the domestic federal statutory income tax rates to pretax income (loss) from continuing operations attributable to foreign withholding tax.

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