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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%