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Note 12 - Equity Incentive Plan (Tables) | 12 Months Ended
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Dec. 31, 2016
Notes Tables |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | December 31,
|  | 2016 |  | 2015 |  | 2014
Risk free interest rate |  | 0.94% | - | 1.55% |  | 1.15% | - | 1.46% |  | 1.16% | - | 1.39%
Expected volatility |  | 47.33% | - | 51.61% |  | 53.15% | - | 54.65% |  | 53.28% | - | 57.05%
Expected life (years) |  |  | 4.5 |  |  |  | 4.5 |  |  |  | 4.0 |
Expected dividend yield |  |  | 0.00% |  |  |  | 0.00% |  |  |  | 0.00% |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block] |
|  | December 31,
|  | 2016 |  | 2015 |  | 2014
Cost of product revenue |  | $ | 148 |  |  | $ | 42 |  |  | $ | 61 |
Research & development |  |  | 467 |  |  |  | 269 |  |  |  | 202 |
Selling, general & administrative |  |  | 2,777 |  |  |  | 1,914 |  |  |  | 1,344 |
Total stock-based compensation expense |  | $ | 3,392 |  |  | $ | 2,225 |  |  | $ | 1,607 |
Schedule of Share-based Compensation, Stock Options and Stock Appreciation Rights Award Activity [Table Text Block] |
|  | 2016 |  | 2015
|  | Number of Shares |  | Weighted Average Exercise Price Per Share |  | Number of Shares |  | Weighted Average Exercise Price Per Share
Options and SAR's outstanding at beginning of year |  |  | 762,260 |  |  | $ | 18.75 |  |  |  | 851,287 |  |  | $ | 14.85 |
Granted |  |  | 354,275 |  |  | $ | 40.77 |  |  |  | 111,625 |  |  | $ | 39.25 |
Cancelled |  |  | (58,841 | ) |  | $ | 30.05 |  |  |  | (85,349 | ) |  | $ | 19.77 |
Expired |  |  | (3,310 | ) |  | $ | 11.37 |  |  |  | (8,825 | ) |  | $ | 20.03 |
Exercised |  |  | (74,815 | ) |  | $ | 15.46 |  |  |  | (106,478 | ) |  | $ | 10.96 |
Stock options and SAR's outstanding at end of year |  |  | 979,569 |  |  | $ | 26.15 |  |  |  | 762,260 |  |  | $ | 18.75 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] |
|  | 2016 |  | 2015
|  | Number of Shares |  | Weighted Average Grant Date Fair Value |  | Number of Shares |  | Weighted Average Grant Date Fair Value
Nonvested at Beginning of year |  |  | 150,384 |  |  | $ | 34.29 |  |  |  | 109,614 |  |  | $ | 23.91 |
Granted |  |  | 87,158 |  |  | $ | 38.11 |  |  |  | 81,080 |  |  | $ | 37.84 |
Cancelled |  |  | (4,950 | ) |  | $ | 36.20 |  |  |  | (10,635 | ) |  | $ | 32.02 |
Expired |  |  | - |  |  | $ | - |  |  |  | - |  |  | $ | - |
Vested/Released |  |  | (25,515 | ) |  | $ | 33.35 |  |  |  | (29,675 | ) |  | $ | 19.31 |
Nonvested at end of year |  |  | 207,077 |  |  | $ | 36.44 |  |  |  | 150,384 |  |  | $ | 34.29 |

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