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Note 8 - Stock-based Compensation - Stock Option Activity (Details)
 9 Months Ended
Sep. 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 (64,932)
Exercised, weighted-average exercise price (in dollars per share) | $ / shares $ 57.24
Forfeited (in shares) | shares (37,842)
Forfeited, weighted-average exercise price (in dollars per share) | $ / shares $ 67.92
Options outstanding (in shares) | shares 233,557
Options outstanding, weighted-average exercise price (in dollars per share) | $ / shares $ 85.89
Options exercisable (in shares) | shares 135,837
Options exercisable, weighted-average exercise price (in dollars per share) | $ / shares $ 98.38