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Note 16 - Income Taxes - Reconciliation of Federal Statutory Income Tax Rate to Effective Tax Rate (Details)	12 Months Ended
	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016
Federal tax statutory rate	21.00%	35.00%	35.00%
State tax (net of federal benefit)	2.00%	1.70%	0.60%
Share based compensation	(2.80%)	(0.80%)
Valuation allowance against deferred tax assets	0.70%	2.90%	3.10%
Research and development credit	(2.50%)	(2.20%)	(2.20%)
Foreign rate differential	(0.10%)	(1.90%)	(2.80%)
Tax reserves	(0.10%)	0.90%	1.40%
Domestic manufacturing deduction		(2.50%)	(1.80%)
Other	(0.50%)	(0.20%)	0.10%
Transition tax	(0.80%)	3.20%
Revaluation of deferred tax liability	(0.50%)	(5.70%)	0.00%
Total	16.40%	30.40%	33.40%

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