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Note 9 - Stock-based Compensation (Tables)
6 Months Ended
Jun. 30, 2018
Notes Tables  
Share-based Compensation, Stock Options, Activity [Table Text Block]
               
   
 
 
 
 
Weighted-
 
   
 
 
 
 
Average
 
   
Stock Options
   
Exercise Price
 
Options outstanding at December 31, 2017
   
399,397
    $
51.14
 
Granted
   
34,386
     
109.91
 
Exercised
   
(108,941
)    
37.04
 
Forfeited
   
(17,077
)    
61.30
 
Options outstanding at June 30, 2018
   
307,765
    $
62.14
 
                 
Exercisable at June 30, 2018
   
168,243
    $
49.52
 
                 
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block]
       
   
Six Months Ended June 30,
 
   
2018
   
2017
 
Risk-free interest rate
 
2.52
-
3.07%
   
2.24%
 
Expected life (years)
 
6.25
   
6.50
 
Expected volatility
 
41.95
-
42.22%
   
44.68%
 
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, 2017
   
334,608
    $
63.29
 
Granted
   
103,818
     
115.20
 
Restrictions lapsed
   
(83,390
)    
62.84
 
Forfeited
   
(21,969
)    
62.28
 
Restricted stock at June 30, 2018
   
333,067
    $
79.64
 
                 
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, 2017
   
25,707
    $
58.35
 
Granted
   
20,006
     
105.75
 
Restrictions lapsed
   
-
     
-
 
Performance change
   
6,427
     
58.35
 
Forfeited
   
-
     
-
 
Performance stock at June 30, 2018
   
52,140
    $
76.54
 
                 
Schedule of Share-based Payment Award, Employee Stock Purchase Plan, Valuation Assumptions [Table Text Block]
       
   
Six Months Ended June 30,
 
   
2018
   
2017
 
Risk-free interest rate
 
1.48
-
2.06%
   
0.59%
-
0.97%
 
Expected life (months)
 
6.00
   
6.00
 
Expected volatility
 
24.49
-
31.50%
   
34.51%
-
39.51%
 
Expected dividend yield
 
0%
   
0%