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Note 1 - Organization and Significant Accounting Policies (Details Textual) - USD ($) | 3 Months Ended | 12 Months Ended |
--- | --- | --- | ---
Dec. 31, 2017 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 2016 | Jan. 01, 2019
Other-than-temporary Impairment Loss, Debt Securities, Portion Recognized in Earnings, Total |  | $ 0 | $ 0 | $ 0 |
Impairment of Long-Lived Assets to be Disposed of |  | $ 0 | 0 | 0 |
Number of Operating Segments |  | 1 |  |  |
Goodwill, Impairment Loss |  | $ 0 | 0 | 0 |
Impairment of Intangible Assets, Finite-lived |  | 0 | 0 | 0 |
Cost Method Investments | $ 1,806,000 |  | 1,806,000 |  |
Other than Temporary Impairment Losses, Investments, Total |  | $ 870,000 | 0 | 0 |
Technical Support Period |  | 1 year |  |  |
Sales Commission, Expected Amortization Period Within Which the Sales Commission Fee is Expensed When Incurred |  | 1 year |  |  |
Reduction from Research and Development Expenses Due to Receipt of Grants | 4,137,000 | $ 3,352,000 |  | 6,410,000 |
Research and Development Tax Credit |  | $ 2,065,000 | 1,555,000 | 1,485,000 |
Defined Contribution Plan, Contribution Rate |  | 10.00% |  |  |
Defined Contribution Plan, Employer Matching Contribution, Percent of Match |  | 100.00% |  |  |
Defined Contribution Plan, Employer Matching Contribution, Percent of Employees' Gross Pay |  | 6.00% |  |  |
Defined Contribution Plan, Maximum Annual Contributions Per Employee, Percent |  | 15.00% |  |  |
Defined Contribution Plan, Employer Discretionary Contribution Amount |  | $ 1,048,000 | 988,000 | 1,020,000 |
Severance Costs |  | 1,818,000 | 1,413,000 | 1,348,000 |
Advertising Expense |  | $ 1,080,000 | $ 1,118,000 | $ 1,033,000 |
Antidilutive Securities Excluded from Computation of Earnings Per Share, Amount |  | 161,362 | 29,892 | 282,696 |
Number of Reporting Units |  | 1 |  |  |
Accounting Standards Update 2016-02 [Member] | Subsequent Event [Member] |  |  |  |  |
Operating Lease, Right-of-Use Asset |  |  |  |  | $ 9,498,000
Operating Lease, Liability, Total |  |  |  |  | $ 9,498,000
Foreign Exchange Forward and Option Contracts [Member] | Cash Flow Hedging [Member] |  |  |  |  |
Derivative, Notional Amount | $ 0 | $ 9,100,000 | $ 0 |  |
Stock Options, Stock Appreciation Rights and Employee Stock Purchase Plan [Member] |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Total |  | $ 217,000 |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition |  | 1 year 36 days |  |  |
Restricted Stock Units (RSUs) [Member] |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Total |  | $ 11,432,000 |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition |  | 1 year 182 days |  |  |
Minimum [Member] |  |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 1 year 182 days |  |  |
Percentage of Royalty Expense |  | 3.00% |  |  |
Minimum [Member] | Foreign Exchange Forward and Option Contracts [Member] | Cash Flow Hedging [Member] |  |  |  |  |
Payroll of Non-US Employees Hedged, Term of Hedging Contracts |  | 30 days |  |  |
Maximum [Member] |  |  |  |  |
Finite-Lived Intangible Asset, Useful Life |  | 7 years |  |  |
Percentage of Royalty Expense |  | 3.50% |  |  |
Maximum [Member] | Foreign Exchange Forward and Option Contracts [Member] | Cash Flow Hedging [Member] |  |  |  |  |
Payroll of Non-US Employees Hedged, Term of Hedging Contracts |  | 1 year |  |  |
Short-term Investments [Member] |  |  |  |  |
Percentage of Interest Rate, Savings Deposits | 1.85% | 2.16% | 1.85% | 1.76% |
Long-term Investments [Member] |  |  |  |  |
Percentage of Interest Rate, Savings Deposits | 2.26% | 2.57% | 2.26% | 1.97% |

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