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Note 13 - Stock-based Compensation - Assumptions Used to Estimate the Fair Value of the ESPP (Details)
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Expected dividend yield 0.00%    
ESPP [Member]      
Expected life (Month) 180 days 180 days 180 days
Expected dividend yield 0.00% 0.00% 0.00%
ESPP [Member] | Minimum [Member]      
Risk-free interest rate 2.06% 0.97% 0.56%
Expected volatility 31.50% 24.49% 39.51%
ESPP [Member] | Maximum [Member]      
Risk-free interest rate 2.33% 1.48% 0.59%
Expected volatility 37.36% 34.51% 49.13%