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Note 8 - Shareholders' Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2016
Dec. 31, 2015
Shares under Option, beginning of period (in shares) 2,257,969 2,056,122
Options outstanding - weighted average exercise price (in dollars per share) $ 6.30 $ 6.66
Options Granted (in shares) 369,550 411,250
Options granted - weighted average exercise price (in dollars per share) $ 4.69 $ 4.68
Options Exercised (in shares) (152,789) (137,937)
Options exercised - weighted average exercise price (in dollars per share) $ 3.86 $ 3.90
Options Forfeited or Expired (in shares) (151,149) (71,466)
Options forfeited or expired - weighted average exercise price (in dollars per share) $ 6.09 $ 11.86
Shares under option, end of period (in shares) 2,323,581 2,257,969
Options outstanding - weighted average exercise price (in dollars per share) $ 6.22 $ 6.30
Options outstanding - weighted average remaining contractual term (Year) 3 years 113 days  
Options outstanding - aggregate intrinsic value $ 1,101  
Vested and Expected to Vest (in shares) 2,192,138  
Options vested and expected to vest - weighted average exercise price (in dollars per share) $ 6.31  
Options vested and expected to vest - weighted average remaining contractual term (Year) 2 years 357 days  
Options vested and expected to vest - aggregate intrinsic value $ 1,006  
Options Exercisable (in shares) 1,302,390 1,255,736
Options Exercisable Weighted- Average Exercise Price (in dollars per share) $ 5.05  
Options exercisable - weighted average remaining contractual term (Year) 1 year 335 days  
Options exercisable - aggregate intrinsic value $ 669  
Options exercised - weighted average exercise price (in dollars per share) $ 3.86 $ 3.90
Options forfeited or expired - weighted average exercise price (in shares) (151,149) (71,466)
Options forfeited or expired - weighted average exercise price (in dollars per share) $ 6.09 $ 11.86
Options exercisable (in shares) 1,302,390 1,255,736
Options exercisable (in dollars per share)   $ 5.22