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Note 6 - Stock Plans and Stock Based Compensation (Details) (USD $) | 9 Months Ended |  |  | 9 Months Ended | 0 Months Ended |  |  |  |  | 0 Months Ended
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Sep. 30, 2014 | Sep. 30, 2013 | Dec. 31, 2013 | Dec. 31, 2012 | Sep. 30, 2014 Employee Stock Option [Member] Contractual Term with One-fifth Yearly Vesting [Member] | Sep. 30, 2014 Employee Stock Option [Member] Contractual Term with One-third Yearly Vesting [Member] | Sep. 30, 2014 Employee Stock Option [Member] The 2004 And 2010 Stock Option Plans [Member] | Sep. 30, 2014 Director Stock Options [Member] The 2003 Outside Directors Stock Plan [Member] | Sep. 30, 2014 Director Stock Options [Member] | Sep. 18, 2014 Non Qualified Stock Option Agreement [Member] The 2003 Outside Directors Stock Plan [Member] | Sep. 30, 2014 Minimum [Member] | Sep. 30, 2013 Minimum [Member] | Sep. 30, 2014 Maximum [Member] | Sep. 30, 2013 Maximum [Member] | Jul. 10, 2014 Chief Operating Officer [Member] The 2010 Stock Option Plan [Member] | Jul. 25, 2011 Chief Operating Officer [Member] The 2010 Stock Option Plan [Member] | Jul. 10, 2014 The 2010 Stock Option Plan [Member]
Note 6 - Stock Plans and Stock Based Compensation (Details) [Line Items] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share Based Compensation Maximum Contractual Term |  |  |  |  |  |  | 10 years | 6 years |  |  | 10 years |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  | 5 years | 3 years |  |  | 6 months | 6 months |  |  |  |  |  | 3 years | 3 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross (in Shares) | 71,800 |  | 18,000 |  |  |  |  |  |  |  |  | 16,800 |  |  |  |  | 45,000 | 60,000 | 55,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Remaining Contractual Term | 5 years 36 days | [1] | 3 years 73 days | [2] |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 6 years
Share-based Compensation Arrangements by Share-based Payment Award, Options, Grants in Period, Weighted Average Exercise Price (in Dollars per share) | $ 4.70 |  | $ 2.79 |  |  |  |  |  |  |  |  | $ 3.70 |  |  |  |  |  | $ 7.85 | $ 5.00
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  |  |  |  |  |  | 10 years |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number (in Shares) | 246,343 | [1] | 390,800 | [2] | 362,800 | 528,800 |  |  | 76,000 | 170,343 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number (in Shares) | 237,543 |  | 390,800 |  |  |  |  |  | 21,000 | 153,543 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Number (in Shares) | 174,543 | [1] | 352,800 | [2] |  |  |  |  | 21,000 | 153,543 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price (in Dollars per share) | $ 7.77 | [1] | $ 9.66 | [2] | $ 9.53 | $ 9.82 |  |  | $ 7.13 | $ 9.30 |  |  | $ 2.79 |  | $ 14.75 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Exercisable, Weighted Average Remaining Contractual Term | 4 years 146 days | [1] | 2 years 328 days | [2] |  |  |  |  | 109 days | 4 years 328 days |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercisable, Weighted Average Exercise Price (in Dollars per share) | $ 9.04 | [1] | $ 10.11 | [2] |  |  |  |  |  |  |  |  |  | $ 5.50 |  | $ 14.75 |  |  |
Reduction in Stock Based Compensation Expense (in Dollars) | $ 54,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized (in Dollars) | 181,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized Remaining Fiscal Year (in Dollars) | 36,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized In Year Two (in Dollars) | 73,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized In Year Three (in Dollars) | 53,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Employee Service Share Based Compensation Nonvested Awards Total Compensation Cost Not Yet Recognized In Year Four (in Dollars) | $ 19,000 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
[1] | Options with exercise prices ranging from $2.79 to $14.75
[2] | Options with exercise prices ranging from $5.50 to $14.75

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