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Note 17 - Quarterly Financial Data (Unaudited) - Quarterly Financial Data (Unaudited) (Details) - USD ($)
$ / shares in Units, shares in Thousands, $ in Thousands
 3 Months Ended 12 Months Ended
Dec. 31, 2016
Sep. 30, 2016
Jun. 30, 2016
Mar. 31, 2016
Dec. 31, 2015
Sep. 30, 2015
Jun. 30, 2015
Mar. 31, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Product revenue $ 28,296 $ 25,783 $ 26,575 $ 22,278 $ 25,607 $ 23,676 $ 22,898 $ 15,515 $ 102,932 $ 87,696 $ 75,474
Total revenue 28,726 25,789 26,581 22,283 30,894 23,681 22,904 15,520 103,379 92,999 105,595
Cost of product revenue 7,539 4,998 6,065 5,425 6,290 5,176 5,274 4,313 24,027 21,053 20,930
Gross profit on product revenue 20,757 20,785 20,510 16,853 19,317 18,500 17,624 11,202      
Net income $ 8,085 $ 8,952 $ 8,615 $ 6,895 $ 11,042 $ 8,380 $ 7,820 $ 3,516 $ 32,547 $ 30,758 $ 38,319
Basic net income per share (in dollars per share) $ 0.56 $ 0.61 $ 0.59 $ 0.46 $ 0.74 $ 0.56 $ 0.52 $ 0.24 $ 2.22 $ 2.06 $ 2.61
Basic common shares outstanding (in shares) 14,538 14,625 14,679 14,875 14,965 14,967 14,961 14,905      
Diluted net income per share (in dollars per share) $ 0.54 $ 0.59 $ 0.57 $ 0.45 $ 0.72 $ 0.55 $ 0.51 $ 0.23 $ 2.15 $ 2.01 $ 2.51
Diluted common shares outstanding (in shares) 14,979 15,077 15,111 15,307 15,353 15,316 15,336 15,330 15,116 15,321 15,269