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Note 12 - Stock-based Compensation (Tables)

12 Months Ended

Dec. 31, 2017

Notes Tables

Schedule of Compensation Cost for Share-based Payment Arrangements, Allocation of Share-based Compensation Costs by Plan [Table Text Block]

		Year Ended December 31,
(in thousands)		2017				2016				2015
Stock options, restricted stock and other		$	7,954			$	6,177			$	5,580
Employee stock purchase plan			604				598				502
Total stock-based compensation expense		$	8,558			$	6,775			$	6,082
Cost of revenue		$	970			$	691			$	513
Operating expenses:
Marketing and sales			1,429				977				1,074
Research and development			1,091				1,396				1,285
General and administrative			5,068				3,711				3,210
Total stock-based compensation expense		$	8,558			$	6,775			$	6,082

Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]

		Year Ended December 31,
		2017						2016						2015
Risk-free interest rate			2.24	-	2.36%				1.53	-	2.68%				1.69	-	1.77%
Expected life (years)				6.50						6.50					5.50	-	6.50
Expected volatility			42.68	-	44.68%				44.38	-	45.93%				46.80	-	47.23%
Expected dividend yield				0%						0%						0%
Weighted average grant date fair value				$32.26						$26.61						$32.42

Share-based Compensation, Stock Options, Activity [Table Text Block]

						Weighted-
						Average
		Stock Options				Exercise Price
Options outstanding at January 1, 2015			998,987			$	26.49
Granted			110,335				67.36
Exercised			(316,761	)			14.36
Cancelled			(26,519	)			51.72
Options outstanding at December 31, 2015			766,042				36.52
Granted			117,480				57.99
Exercised			(226,164	)			16.65
Cancelled			(87,719	)			61.41
Options outstanding at December 31, 2016			569,639				45.00
Granted			60,100				69.06
Exercised			(187,313	)			35.93
Cancelled			(43,371	)			61.02
Options outstanding at December 31, 2017			399,055			$	51.13
Exercisable at December 31, 2017			239,482			$	42.08

Schedule of Share-based Compensation, Shares Authorized under Stock Option Plans, by Exercise Price Range [Table Text Block]

				Options Outstanding, Vested and Expected to Vest												Options Exercisable
Range of Exercise Prices				Number Outstanding				Weighted Average Remaining Contractual Life				Weighted Average Exercise Price ($)				Number Exercisable				Weighted Average Exercise Price ($)
$3.67	to	$7.85			6,000				1.33			$	5.56				6,000			$	5.56
	$7.86				53,100				1.44				7.86				53,100				7.86
$7.87	to	$31.43			47,788				4.03				26.68				47,788				26.68
$31.44	to	$47.15			7,816				1.76				47.08				5,390				47.08
$47.16	to	$66.87			179,032				6.23				58.35				78,874				58.83
$66.88	to	$96.20			105,319				6.29				74.69				48,330				71.57

Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Activity [Table Text Block]

						Weighted-
						Average
						Grant Date
		Restricted				Fair Value
		Stock Awards				Per Share
Restricted stock at January 1, 2015			76,574			$	69.27
Granted			68,580				68.89
Restrictions lapsed			(16,863	)			69.25
Forfeited			(3,898	)			72.14
Restricted stock at December 31, 2015			124,393				68.97
Granted			161,555				59.37
Restrictions lapsed			(41,415	)			67.78
Forfeited			(29,428	)			63.23
Restricted stock at December 31, 2016			215,105				62.78
Granted			210,744				63.70
Restrictions lapsed			(60,102	)			63.60
Forfeited			(30,916	)			61.99
Restricted stock at December 31, 2017			334,831			$	63.29

Schedule of Nonvested Performance-based Units Activity [Table Text Block]

						Weighted-
						Average
						Grant Date
		Performance				Fair Value
		Stock Awards				Per Share
Performance stock at January 1, 2015			-			$	-
Granted			-				-
Restrictions lapsed			-				-
Forfeited			-				-
Performance stock at December 31, 2015			-				-
Granted			-				-
Restrictions lapsed			-				-
Forfeited			-				-
Performance stock at December 31, 2016			-				-
Granted			25,707				58.35
Restrictions lapsed			-				-
Forfeited			-				-
Performance stock at December 31, 2017			25,707			$	58.35

Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]

		Year ended December 31,
		2017						2016						2015
Risk-free interest rate			0.97	-	1.48%				0.56	-	0.59%				0.08	-	0.39%
Expected life (months)				6.00						6.00						6.00
Expected volatility			24.49	-	34.51%				39.51	-	49.13%				29.41	-	37.64%
Expected dividend yield				0%						0%						0%

X

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