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Note 10 - Stock-based Compensation - Stock Options Outstanding and Exercisable (Details) - $ / shares	9 Months Ended
	Sep. 30, 2016	Dec. 31, 2015	Sep. 30, 2015	Dec. 31, 2014
Range 1 [Member]
Outstanding options, exercise price range, lower limit (in dollars per share)	$ 5.76
Outstanding options, exercise price range, upper limit (in dollars per share)	$ 10.72
Stock options outstanding (in shares)	156,345
Options outstanding, weighted-average exercise price (in dollars per share)	$ 5.76
Options outstanding, weighted-average remaining contractual life	2 years 98 days
Stock options exercisable (in shares)	104,298
Exercisable options, weighted-average exercise price (in dollars per share)	$ 5.76
Range 2 [Member]
Outstanding options, exercise price range, lower limit (in dollars per share)	10.73
Outstanding options, exercise price range, upper limit (in dollars per share)	$ 15.45
Stock options outstanding (in shares)	59,232
Options outstanding, weighted-average exercise price (in dollars per share)	$ 10.90
Options outstanding, weighted-average remaining contractual life	1 year 167 days
Stock options exercisable (in shares)	59,232
Exercisable options, weighted-average exercise price (in dollars per share)	$ 10.90
Range 3 [Member]
Outstanding options, exercise price range, lower limit (in dollars per share)	15.46
Outstanding options, exercise price range, upper limit (in dollars per share)	$ 20.01
Stock options outstanding (in shares)	36,747
Options outstanding, weighted-average exercise price (in dollars per share)	$ 15.48
Options outstanding, weighted-average remaining contractual life	47 days
Stock options exercisable (in shares)	36,747
Exercisable options, weighted-average exercise price (in dollars per share)	$ 15.48
Range 4 [Member]
Outstanding options, exercise price range, lower limit (in dollars per share)	20.02
Outstanding options, exercise price range, upper limit (in dollars per share)	$ 49.91
Stock options outstanding (in shares)	17,221
Options outstanding, weighted-average exercise price (in dollars per share)	$ 34.21
Options outstanding, weighted-average remaining contractual life	7 years 167 days
Stock options exercisable (in shares)	6,901
Exercisable options, weighted-average exercise price (in dollars per share)	$ 22.74
Outstanding options, exercise price range, lower limit (in dollars per share)
Outstanding options, exercise price range, upper limit (in dollars per share)
Stock options outstanding (in shares)	269,545	298,740	361,470	759,683
Options outstanding, weighted-average exercise price (in dollars per share)	$ 10.03	$ 9.97	$ 9.16	$ 11.36
Options outstanding, weighted-average remaining contractual life	2 years 47 days
Stock options exercisable (in shares)	207,178
Exercisable options, weighted-average exercise price (in dollars per share)	$ 9.52

X

- Definition

The number of shares into which fully or partially vested stock options outstanding as of the balance sheet date can be currently converted under the option plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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X

- Definition

The weighted-average price as of the balance sheet date at which grantees can acquire the shares reserved for issuance on vested portions of options outstanding and currently exercisable under the stock option plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(iii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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X

- Definition

Number of options outstanding, including both vested and non-vested options.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

Reference 2: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(i)-(ii)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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X

- Definition

Weighted average price at which grantees can acquire the shares reserved for issuance under the stock option plan.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)(i)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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X

- Definition

The floor of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (g)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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X

- Definition

The ceiling of a customized range of exercise prices for purposes of disclosing shares potentially issuable under outstanding stock option awards on all stock option plans and other required information pertaining to awards in the customized range.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (g)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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X

- Definition

Weighted average remaining contractual term for option awards outstanding, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

+ References

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 718
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (e)(1)
-URI http://asc.fasb.org/extlink&oid=6415400&loc=d3e5070-113901

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