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Note 15 - Income Taxes - Reconciliation of Federal Statutory Income Tax Rate to Effective Tax Rate (Details)	12 Months Ended
	Dec. 31, 2017	Dec. 31, 2016	Dec. 31, 2015
Federal tax statutory rate	35.00%	35.00%	35.00%
State tax (net of federal benefit)	(1.70%)	(0.60%)	(0.50%)
Qualified subsidiary election	(0.60%)	(0.80%)	0.60%
Valuation allowance against deferred tax assets	2.90%	3.10%	(0.30%)
Research and development credit	(2.20%)	(2.20%)	(2.90%)
Foreign rate differential	(1.90%)	(2.80%)	(1.80%)
Tax reserves	0.90%	1.40%	1.50%
Domestic manufacturing deduction	(2.50%)	(1.80%)	(1.40%)
Miscellaneous	(0.40%)	0.90%	0.30%
Transition tax	3.20%
Revaluation of deferred tax liability	(5.70%)
Total	30.40%	33.40%	31.50%

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Percentage 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 the revaluation of deferred tax liability.

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Percentage 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 a one time transition tax.

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Percentage of domestic federal statutory tax rate applicable to pretax income (loss).

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Percentage 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 deduction for qualified production activity.

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Percentage 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 income tax contingencies. Includes, but not limited to, domestic tax contingency, foreign tax contingency, state and local tax contingency, and other contingencies.

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Percentage 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 research tax credit.

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