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Note 12 - Commitments and Contingencies (Details Textual)
 3 Months Ended 12 Months Ended
Oct. 09, 2015
ft²
Dec. 30, 2009
a
Dec. 31, 2015
USD ($)
a
Dec. 31, 2015
USD ($)
a
Dec. 31, 2014
USD ($)
Dec. 31, 2013
USD ($)
Bedford Massachusetts [Member] | First Three Renewal Options [Member]            
Lessee Leasing Arrangements, Operating Leases, Renewal Term       5 years    
Bedford Massachusetts [Member] | Final Renewal Option [Member]            
Lessee Leasing Arrangements, Operating Leases, Renewal Term       6 years    
Bedford Massachusetts [Member]            
Area of Real Estate Property | a     134,000 134,000    
Option to Extend Operating Lease Term, Number of Periods       4    
Abano Terme, Italy [Member]            
Area of Real Estate Property | a   28,000        
Lessee Leasing Arrangements, Operating Leases, Term of Contract   6 years   6 years    
Operating Lease, Notice Required to Terminate       180 days    
European Headquarters Facility [Member]            
Area of Real Estate Property | ft² 33,000          
Lessee Leasing Arrangements, Term of Contract 15 years          
Lessee Leasing Arrangements, Number of Renewal Terms 3          
Lessee Leasing Arrangements, Renewal Term 6 years          
Lessee Leasing Arrangements Ability to Withdraw With Penalty 6 years          
Lessee Leasing Arrangements Ability to Withdrawn Without Penalty 9 years          
Lessee Leasing Arrangements Initial Yearly Rent     $ 400,000      
Construction in Progress, Gross     200,000 $ 200,000    
Build-to-suit Lease Agreement, Offsetting Facility Lease Obligation     30,000 30,000    
Product Warranty Accrual     0 0 $ 0  
Operating Leases, Rent Expense       $ 1,300,000 1,400,000 $ 1,400,000
Lessee Leasing Arrangements, Operating Leases, Term of Contract       10 years 182 days    
Construction in Progress, Gross     $ 11,274,000 $ 11,274,000 $ 559,000