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Note 8 - Stock-based Compensation - Stock Option Activity (Details)
 6 Months Ended
Jun. 30, 2020
$ / shares
shares
Options outstanding (in shares) | shares 276,266
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares $ 72.38
Granted (in shares) | shares 60,065
Granted, weighted-average exercise price (in dollars per share) | $ / shares $ 105.79
Exercised (in shares) | shares (18,052)
Exercised, weighted-average exercise price (in dollars per share) | $ / shares $ 49.68
Forfeited (in shares) | shares (36,841)
Forfeited, weighted-average exercise price (in dollars per share) | $ / shares $ 66.97
Options outstanding (in shares) | shares 281,438
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares $ 81.67
Options exercisable (in shares) | shares 144,822
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares $ 65.88