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Note 12 - Equity Incentive Plan (Tables) | 12 Months Ended
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Dec. 31, 2017
Notes Tables |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2017 |  | 2016 |  | 2015
Risk free interest rate |  | 1.60% | - | 1.86% |  | 0.94% | - | 1.55% |  | 1.15% | - | 1.46%
Expected volatility |  | 38.74% | - | 44.31% |  | 47.33% | - | 51.61% |  | 53.15% | - | 54.65%
Expected life (years) |  |  | 4.0 |  |  |  | 4.5 |  |  |  | 4.5 |
Expected dividend yield |  |  | 0.00% |  |  |  | 0.00% |  |  |  | 0.00% |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block] |
|  | 2017 |  | 2016 |  | 2015
Cost of product revenue |  | $ | 439 |  |  | $ | 148 |  |  | $ | 42 |
Research & development |  |  | 564 |  |  |  | 467 |  |  |  | 269 |
Selling, general & administrative |  |  | 4,804 |  |  |  | 2,777 |  |  |  | 1,914 |
Total stock-based compensation expense |  | $ | 5,807 |  |  | $ | 3,392 |  |  | $ | 2,225 |
Schedule of Share-based Compensation, Stock Options and Stock Appreciation Rights Award Activity [Table Text Block] |
|  | 2017 |  | 2016
|  |  |  | Weighted |  |  |  | Weighted
|  |  |  | Average |  |  |  | Average
|  |  |  | Exercise |  |  |  | Exercise
|  | Number of |  | Price Per |  | Number of |  | Price Per
|  | Shares |  | Share |  | Shares |  | Share
Options and SAR's outstanding at beginning of year |  |  | 979,569 |  |  | $ | 26.15 |  |  |  | 762,260 |  |  | $ | 18.75 |
Granted |  |  | 440,688 |  |  | $ | 50.22 |  |  |  | 354,275 |  |  | $ | 40.77 |
Cancelled |  |  | (74,527 | ) |  | $ | 45.56 |  |  |  | (58,841 | ) |  | $ | 30.05 |
Expired |  |  | (589 | ) |  | $ | 32.86 |  |  |  | (3,310 | ) |  | $ | 11.37 |
Exercised |  |  | (17,941 | ) |  | $ | 20.56 |  |  |  | (74,815 | ) |  | $ | 15.46 |
Options and SAR's outstanding at end of year |  |  | 1,327,200 |  |  | $ | 33.70 |  |  |  | 979,569 |  |  | $ | 26.15 |
Schedule of Share-based Compensation, Exercisable Stock Options and Stock Appreciation Rights Award Activity [Table Text Bloc] |
|  | Outstanding |  | Weighted Average Exercise Price |  | Weighted Average Remaining Term (in years)
Incentive stock options |  |  | 182,472 |  |  | $ | 14.12 |  |  |  | 4.3 |
Nonqualified stock options |  |  | 374,211 |  |  | $ | 20.18 |  |  |  | 5.3 |
Performance options |  |  | 32,598 |  |  | $ | 38.79 |  |  |  | 7.7 |
SAR's |  |  | 35,250 |  |  | $ | 6.36 |  |  |  | 2.1 |
Schedule of Nonvested Restricted Stock Units Activity [Table Text Block] |
|  | 2017 |  | 2016
|  |  |  | Weighted |  |  |  | Weighted
|  |  |  | Average |  |  |  | Average
|  | Number of |  | Grant Date |  | Number of |  | Grant Date
|  | Shares |  | Fair Value |  | Shares |  | Fair Value
Unvested at Beginning of year |  |  | 207,077 |  |  | $ | 36.44 |  |  |  | 150,384 |  |  | $ | 34.29 |
Granted |  |  | 67,567 |  |  | $ | 52.03 |  |  |  | 87,158 |  |  | $ | 38.11 |
Cancelled |  |  | - |  |  | $ | - |  |  |  | (4,950 | ) |  | $ | 36.20 |
Expired |  |  | - |  |  | $ | - |  |  |  | - |  |  | $ | - |
Vested/Released |  |  | (45,418 | ) |  | $ | 35.32 |  |  |  | (25,515 | ) |  | $ | 33.35 |
Unvested at end of year |  |  | 229,226 |  |  | $ | 42.47 |  |  |  | 207,077 |  |  | $ | 36.44 |

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