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Note 13 - Equity Incentive Plan (Tables) | 12 Months Ended
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Dec. 31, 2018
Notes Tables |
Schedule of Share-based Payment Award, Stock Options, Valuation Assumptions [Table Text Block] |
|  | 2018 |  | 2017 |  | 2016
Risk free interest rate |  | 2.15% | - | 2.82% |  | 1.60% | - | 1.86% |  | 0.94% | - | 1.55%
Expected volatility |  | 37.12% | - | 45.61% |  | 38.74% | - | 44.31% |  | 47.33% | - | 51.61%
Expected life (years) |  | 4.0 | - | 4.5 |  |  | 4.0 |  |  |  | 4.5 |
Expected dividend yield |  |  | 0.00% |  |  |  | 0.00% |  |  |  | 0.00% |
Disclosure of Share-based Compensation Arrangements by Share-based Payment Award [Table Text Block] |
|  | Twelve Months Ended December 31,
|  | 2018 |  | 2017
Grants: |  |  |  |
Stock options |  |  | 199,970 |  |  |  | 440,688 |
RSAs |  |  | 64,578 |  |  |  | 26,306 |
RSUs |  |  | 15,457 |  |  |  | 9,970 |
Exercises: |  |  |  |  |  |  |  |
Stock options |  |  | 284,548 |  |  |  | 12,941 |
SARs |  |  | - |  |  |  | 5,000 |
Schedule of Employee Service Share-based Compensation, Allocation of Recognized Period Costs [Table Text Block] |
|  | 2018 |  | 2017 |  | 2016
Cost of product revenue |  | $ | (160 | ) |  | $ | 439 |  |  | $ | 148 |
Research & development |  |  | 851 |  |  |  | 564 |  |  |  | 467 |
Selling, general & administrative |  |  | 10,355 |  |  |  | 4,804 |  |  |  | 2,777 |
Total stock-based compensation expense |  | $ | 11,046 |  |  | $ | 5,807 |  |  | $ | 3,392 |
Schedule of Share-based Compensation, Stock Options and Stock Appreciation Rights Award Activity [Table Text Block] |
|  | 2018
|  | Number of Shares |  | Weighted Average Exercise Price Per Share
Options and SARs outstanding at beginning of year |  |  | 1,327,200 |  |  | $ | 33.70 |
Granted |  |  | 199,970 |  |  | $ | 58.11 |
Cancelled |  |  | (104,629 | ) |  | $ | 50.19 |
Expired |  |  | (1,079 | ) |  | $ | 46.49 |
Exercised |  |  | (284,548 | ) |  | $ | 10.14 |
Options and SARs outstanding at end of year |  |  | 1,136,914 |  |  | $ | 42.06 |
Schedule of Share-based Compensation, Exercisable Stock Options and Stock Appreciation Rights Award Activity [Table Text Bloc] |
|  | Number Outstanding |  | Weighted Avg Exercise Price |  | Weighted Average Remaining Term (in years)
Incentive stock options |  |  | 139,674 |  |  | $ | 24.53 |  |  |  | 4.1 |
Non-qualified stock options |  |  | 453,790 |  |  | $ | 40.74 |  |  |  | 3.2 |
Performance awards |  |  | 100,963 |  |  | $ | 40.72 |  |  |  | 3.1 |
Stock appreciation rights |  |  | 35,250 |  |  | $ | 6.36 |  |  |  | 1.1 |
Schedule of Share-based Compensation, Restricted Stock and Restricted Stock Units Activity [Table Text Block] |
|  | 2018
|  | Number of Shares |  | Weighted Average Grant Date Fair Value
Unvested at Beginning of year |  |  | 229,226 |  |  | $ | 42.47 |
Granted |  |  | 80,035 |  |  | $ | 58.84 |
Cancelled |  |  | (126,946 | ) |  | $ | 42.47 |
Vested/Released |  |  | (123,232 | ) |  | $ | 50.80 |
Unvested at end of year |  |  | 59,083 |  |  | $ | 47.26 |

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- Definition Tabular disclosure of components of a stock option or other award plan under which equity-based compensation is awarded to employees, typically comprised of the amount of unearned compensation (deferred compensation cost), compensation expense, and changes in the quantity and fair value of the shares (or other type of equity) granted, exercised, forfeited, and issued and outstanding pertaining to that plan. Disclosure may also include nature and general terms of such arrangements that existed during the period and potential effects of those arrangements on shareholders, effect of compensation cost arising from equity-based payment arrangements on the income statement, method of estimating the fair value of the goods or services received, or the fair value of the equity instruments granted, during the period, cash flow effects resulting from equity-based payment arrangements and, for registrants that accelerate vesting of out of the money share options, reasons for the decision to accelerate. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5047-113901 Reference 2: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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- Definition Tabular disclosure of the significant assumptions used during the year to estimate the fair value of stock options, including, but not limited to: (a) expected term of share options and similar instruments, (b) expected volatility of the entity's shares, (c) expected dividends, (d) risk-free rate(s), and (e) discount for post-vesting restrictions. + References Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (f)(2) -URI http://asc.fasb.org/extlink&oid=109197908&loc=d3e5070-113901 + Details
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