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Note 8 - Stock-based Compensation (Tables)
9 Months Ended
Sep. 30, 2017
Notes Tables  
Share-based Compensation, Stock Options, Activity [Table Text Block]
   
 
 
 
 
Weighted-
 
   
 
 
 
 
Average
 
   
Stock Options
   
Exercise Price
 
Options outstanding at December 31, 2016
   
569,639
    $
45.00
 
Granted
   
43,095
     
58.35
 
Exercised
   
(136,483
)    
34.82
 
Forfeited
   
(16,943
)    
58.17
 
Options outstanding at September 30, 2017
   
459,308
    $
48.79
 
                 
Exercisable at September 30, 2017
   
270,705
    $
40.54
 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
   
Nine Months Ended September 30,
 
   
2017
   
2016
 
Risk-free interest rate
   
2.24%
     
1.53
-
1.68%
 
Expected life (years)
   
6.50
     
 
6.50
 
 
Expected volatility
   
44.68%
     
44.38
-
45.93%
 
Expected dividend yield
   
0%
     
 
0%
 
 
Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Activity [Table Text Block]
   
 
 
 
 
Weighted-
 
   
 
 
 
 
Average
 
   
 
 
 
 
Grant Date
 
   
Restricted
   
Fair Value
 
   
Stock
   
Per Share
 
Restricted stock at December 31, 2016
   
215,105
    $
62.78
 
Granted
   
197,649
     
61.60
 
Restrictions lapsed
   
(55,205
)    
63.62
 
Forfeited
   
(13,074
)    
63.51
 
Restricted stock at September 30, 2017
   
344,475
    $
61.94
 
Schedule of Nonvested Performance-based Units Activity [Table Text Block]
   
 
 
 
 
Weighted-
 
   
 
 
 
 
Average
 
   
 
 
 
 
Grant Date
 
   
Performance
   
Fair Value
 
   
Stock
   
Per Share
 
Performance stock at December 31, 2016
   
-
    $
-
 
Granted
   
25,707
     
58.35
 
Restrictions lapsed
   
-
     
-
 
Forfeited
   
-
     
-
 
Performance stock at September 30, 2017
   
25,707
    $
58.35
 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
   
Nine Months Ended September 30,
 
   
2017
   
2016
 
Risk-free interest rate
   
0.59%
-
0.97%
     
0.39
-
0.56%
 
Expected life (months)
   
 
6.00
 
     
 
6.00
 
 
Expected volatility
   
34.51%
-
39.51%
     
29.41
-
49.13%
 
Expected dividend yield
   
 
0%
 
     
 
0%