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Note 11 - Commitments and Contingencies (Details Textual) |  |  | 3 Months Ended | 12 Months Ended
--- | --- | --- | --- | ---
Feb. 02, 2017 USD ($) | Oct. 09, 2015 ft² | Dec. 31, 2015 USD ($) | Dec. 31, 2016 USD ($) ft² | Dec. 31, 2015 USD ($) | Dec. 31, 2014 USD ($)
Construction in Progress, Gross |  |  | $ 11,274,000 | $ 22,695,000 | $ 11,274,000 |
Operating Leases, Rent Expense |  |  |  | 1,300,000 | 1,300,000 | $ 1,400,000
Standard and Extended Product Warranty Accrual |  |  | 0 | $ 0 | $ 0 |
Bedford Massachusetts [Member] |  |  |  |  |  |
Area of Real Estate Property | ft² |  |  |  | 134,000 |  |
Lessee Leasing Arrangements, Operating Leases, Term of Contract |  |  |  | 10 years 182 days |  |
Option to Extend Operating Lease Term, Number of Periods |  |  |  | 3 |  |
Bedford Massachusetts [Member] | Next Two 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] | Subsequent Event [Member] |  |  |  |  |  |
Lessee Leasing Arrangements, Annual Base Rent | $ 1,500,000 |  |  |  |  |
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Lessee Leasing Arrangements Ability to Withdrawn Without Penalty |  | 9 years |  |  |  |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 |  |  | $ 300,000 |  |  |
Construction in Progress, Gross |  |  |  | $ 1,700,000 |  |
Abano Terme, Italy [Member] |  |  |  |  |  |
Area of Real Estate Property | ft² |  |  |  | 28,000 |  |

X
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