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Note 18 - 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, 2019	Sep. 30, 2019	Jun. 30, 2019	Mar. 31, 2019	Dec. 31, 2018	Sep. 30, 2018	Jun. 30, 2018	Mar. 31, 2018	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Revenue	$ 29,772	$ 29,697	$ 30,418	$ 24,723	$ 26,956	$ 26,787	$ 30,548	$ 21,264	$ 114,610	$ 105,555	$ 113,420
Cost of product revenue	8,649	5,951	6,836	7,311	7,001	8,282	8,152	7,845	28,747	31,280	27,364
Gross profit on product revenue	21,118	23,664	23,577	17,406	19,949	18,499	22,390	13,413
Net income	$ 4,051	$ 9,200	$ 9,435	$ 4,507	$ 7,717	$ 7,599	$ 10,092	$ (6,686)	$ 27,193	$ 18,722	$ 31,816
Net income (in dollars per share)	$ 0.28	$ 0.65	$ 0.68	$ 0.32	$ 0.54	$ 0.53	$ 0.69	$ (0.46)	$ 1.93	$ 1.30	$ 2.18
Basic common shares outstanding (in shares)	14,280	14,070	13,916	14,185	14,168	14,237	14,652	14,679
Diluted net income per share (in dollars per share)	$ 0.28	$ 0.66	$ 0.67	$ 0.31	$ 0.54	$ 0.53	$ 0.68	$ (0.46)	$ 1.89	$ 1.27	$ 2.11
Diluted common shares outstanding (in shares)	14,621	14,387	14,088	14,314	14,299	14,377	14,915	14,679	14,374	14,689	15,068
Product [Member]
Revenue	$ 29,767	$ 29,615	$ 30,413	$ 24,717	$ 26,950	$ 26,781	$ 30,542	$ 21,258	$ 114,512	$ 105,531	$ 107,783

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The aggregate costs related to goods produced and sold and services rendered by an entity during the reporting period. This excludes costs incurred during the reporting period related to financial services rendered and other revenue generating activities.

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