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Note 8 - Shareholders' Equity - Options Range of Exercise Prices (Details)
 12 Months Ended
Dec. 31, 2016
$ / shares
shares
Lower Range Limit (in dollars per share) $ 3.22
Upper Range Limit (in dollars per share) $ 15
Option Outstanding Number of Outstanding Options (in shares) | shares 2,323,581
Option Outstanding Weighted- Average Remaining Contractual Life (Year) 3 years 113 days
Option Outstanding Weighted- Average Exercise Price (in dollars per share) $ 6.22
Options Exercisable Number of Options Exercisable (in shares) | shares 1,302,390
Options Exercisable Weighted- Average Exercise Price (in dollars per share) $ 5.05
Range One [Member]  
Lower Range Limit (in dollars per share) 3.22
Upper Range Limit (in dollars per share) $ 3.99
Option Outstanding Number of Outstanding Options (in shares) | shares 608,200
Option Outstanding Weighted- Average Remaining Contractual Life (Year) 3 years 248 days
Option Outstanding Weighted- Average Exercise Price (in dollars per share) $ 3.76
Options Exercisable Number of Options Exercisable (in shares) | shares 394,218
Options Exercisable Weighted- Average Exercise Price (in dollars per share) $ 3.75
Range Two [Member]  
Lower Range Limit (in dollars per share) 4
Upper Range Limit (in dollars per share) $ 4.99
Option Outstanding Number of Outstanding Options (in shares) | shares 686,548
Option Outstanding Weighted- Average Remaining Contractual Life (Year) 3 years 226 days
Option Outstanding Weighted- Average Exercise Price (in dollars per share) $ 4.40
Options Exercisable Number of Options Exercisable (in shares) | shares 396,006
Options Exercisable Weighted- Average Exercise Price (in dollars per share) $ 4.45
Range Three [Member]  
Lower Range Limit (in dollars per share) 5
Upper Range Limit (in dollars per share) $ 9.99
Option Outstanding Number of Outstanding Options (in shares) | shares 628,833
Option Outstanding Weighted- Average Remaining Contractual Life (Year) 2 years 62 days
Option Outstanding Weighted- Average Exercise Price (in dollars per share) $ 6.58
Options Exercisable Number of Options Exercisable (in shares) | shares 512,166
Options Exercisable Weighted- Average Exercise Price (in dollars per share) $ 6.52
Range Four [Member]  
Lower Range Limit (in dollars per share) 10
Upper Range Limit (in dollars per share) $ 15
Option Outstanding Number of Outstanding Options (in shares) | shares 400,000
Option Outstanding Weighted- Average Remaining Contractual Life (Year) 4 years
Option Outstanding Weighted- Average Exercise Price (in dollars per share) $ 12.50
Options Exercisable Number of Options Exercisable (in shares) | shares
Options Exercisable Weighted- Average Exercise Price (in dollars per share)