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Note 11 - Common Stock and Stock-based Compensation Plans (Details Textual) - USD ($) $ in Thousands |  |  | 9 Months Ended |
--- | --- | --- | --- | ---
May 07, 2019 | Feb. 19, 2019 | Sep. 30, 2019 | Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number | [2] |  |  | 647,973 | [1] | 702,817
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number | [2],[3] |  |  | 611,677 |  |
Non-employee Director [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Annual Vesting, Percentage |  |  |  | 25.00% |  |
Maximum [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  | 4 years |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Outstanding Number |  |  |  | 601,167 |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable Number |  |  |  | 565,070 |  |
Stock Appreciation Rights (SARs) [Member] | Maximum [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Percentage of Awards Granted |  |  |  | 400.00% |  |
Percentage of Stock Appreciation Rights Units Subject to Grant |  |  |  | 75.00% |  |
The2011 Stock Incentive Plan [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights Vesting Percentage, Year One |  |  |  | 25.00% |  |
Share-based Compensation Arrangement by Share-based Payment Award, Remaining Vesting Period |  |  |  | 3 years |  |
Stock Options and SARs [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  | $ 44 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  |  | 1 year |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  | 3 years | 3 years |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  | 10,000 | 30,000 |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | Vesting on February 19, 2020 [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 33.33% |  |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | Vesting on February 19, 2021 [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 33.33% |  |  |  |
Restricted Stock Units (RSUs) [Member] | Chief Executive Officer [Member] | Vesting on February 19, 2022 [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage |  | 33.33% |  |  |  |
Performance Share Units [Member] | Chief Executive Officer [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  | 3 years |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant |  | 24,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Number to Be Granted If 100% License Revenue Target is Met |  | 20,000 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Proportional Percentage to Be Received for Each Increase of 1 Percent Beyond the License Revenue Target |  | 1.00% |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Ceiling as a Percentage of Baseline Number to Be Granted if the License Revenue Target is Exceeded |  | 120.00% |  |  |  |
Performance Share Units [Member] | Maximum [Member] | Chief Executive Officer [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Percentage of License Revenue Target, Proportional Percentage to Be Received upon Achievement |  | 99.00% |  |  |  |
Performance Share Units [Member] | Minimum [Member] | Chief Executive Officer [Member] |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Percentage of License Revenue Target, Proportional Percentage to Be Received upon Achievement |  | 90.00% |  |  |  |
RSUs and PSUs [Member] |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  |  | $ 16,238 |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  |  | 1 year 219 days |  |
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period |  |  |  | 489,099 |  |
[1] | Due to the ceiling imposed on the SAR grants, the outstanding amount equals a maximum of 601,167 shares of the Company's common stock issuable upon exercise.
[2] | The SAR units are convertible for a maximum number of shares of the Company's common stock equal to 75% of the SAR units subject to the grant.
[3] | Due to the ceiling imposed on the SAR grants, the exercisable amount equals a maximum of 565,070 shares of the Company's common stock issuable upon exercise.

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