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Note 8 - Shareholders' Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2017
Dec. 31, 2016
Shares under Option, beginning 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 Granted (in shares) 244,750 369,550
Options granted - weighted average exercise price (in dollars per share) $ 5.60 $ 4.69
Options Exercised (in shares) (333,305) (152,789)
Options exercised - weighted average exercise price (in dollars per share) $ 4.29 $ 3.86
Options Forfeited or Expired (in shares) (374,815) (151,149)
Options forfeited or expired - weighted average exercise price (in dollars per share) $ 8.11 $ 6.09
Shares under option, end of period (in shares) 1,860,211 2,323,581
Options outstanding - weighted average exercise price (in dollars per share) $ 5.06 $ 6.22
Options outstanding - weighted average remaining contractual term (Year) 2 years 339 days  
Options outstanding - aggregate intrinsic value $ 2,624  
Vested and Expected to Vest (in shares) 1,649,594  
Options vested and expected to vest - weighted average exercise price (in dollars per share) $ 4.63  
Options vested and expected to vest - weighted average remaining contractual term (Year) 2 years 273 days  
Options vested and expected to vest - aggregate intrinsic value $ 2,438  
Options Exercisable (in shares) 1,045,798 1,302,390
Options exercisable, weighted-average exercise price (in dollars per share) $ 4.18  
Options exercisable - weighted average remaining contractual term (Year) 2 years 229 days  
Options exercisable - aggregate intrinsic value $ 1,806  
Options exercised - weighted average exercise price (in dollars per share) $ 4.29 $ 3.86
Options forfeited or expired (in shares) (374,815) (151,149)
Options forfeited or expired - weighted average exercise price (in dollars per share) $ 8.11 $ 6.09
Options exercisable (in shares) 1,045,798 1,302,390
Options exercisable - weighted average exercise price (in dollars per share)   $ 5.05