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Note 14 - Stock Option Plans (Details Textual) - USD ($) $ in Thousands |  | 1 Months Ended | 12 Months Ended |
--- | --- | --- | --- | ---
Oct. 08, 2010 | Sep. 30, 2015 | Dec. 31, 2019 | Dec. 31, 2018 | Dec. 31, 2017 | Dec. 31, 1996 | Nov. 22, 2006
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  | $ 3,900 | $ 2,900 | $ 7,600 |  |
Proceeds from Stock Options Exercised |  |  | 395 | 112 | 222 |  |
Share-based Payment Arrangement, Expense |  |  | 2,876 | $ 2,574 | $ 1,457 |  |
Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total |  |  | $ 6,600 |  |  |  |
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition |  |  | 2 years 109 days |  |  |  |
The 1996 Plan [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  |  |  | 2,787,500 |
The 1996 Plan [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  | 4 years |
Equity Compensation Plan 2006 [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized | 1,725,000 | 2,475,000 |  |  |  |  | 1,250,000
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized | 475,000 | 750,000 |  |  |  |  |
Equity Compensation Plan 2006 [Member] | Share-based Payment Arrangement, Option [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  | 4 years |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  | 7 years |  |  |  |
Equity Compensation Plan 2006 [Member] | Automatic Formula Grants of Nonqualified Stock Options [Member] |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  | 1 year |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  | 5 years |  |  |  |

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