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Note 8 - Shareholders' Equity - Options Range of Exercise Prices (Details)
 12 Months Ended
Dec. 31, 2017
$ / shares
shares
Lower range limit (in dollars per share) $ 3.22
Upper range limit (in dollars per share) $ 15
Options outstanding, number of outstanding options (in shares) | shares 1,860,211
Options outstanding, weighted-average remaining contractual life (Year) 2 years 339 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 5.06
Options exercisable, number of options exercisable (in shares) | shares 1,045,798
Options exercisable, weighted-average exercise price (in dollars per share) $ 4.18
Range One [Member]  
Lower range limit (in dollars per share) 3.22
Upper range limit (in dollars per share) $ 3.99
Options outstanding, number of outstanding options (in shares) | shares 435,398
Options outstanding, weighted-average remaining contractual life (Year) 3 years 102 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 3.78
Options exercisable, number of options exercisable (in shares) | shares 368,406
Options exercisable, weighted-average exercise price (in dollars per share) $ 3.80
Range Two [Member]  
Lower range limit (in dollars per share) 4
Upper range limit (in dollars per share) $ 4.99
Options outstanding, number of outstanding options (in shares) | shares 510,213
Options outstanding, weighted-average remaining contractual life (Year) 3 years 98 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 4.37
Options exercisable, number of options exercisable (in shares) | shares 335,624
Options exercisable, weighted-average exercise price (in dollars per share) $ 4.40
Range Three [Member]  
Lower range limit (in dollars per share) 5
Upper range limit (in dollars per share) $ 9.99
Options outstanding, number of outstanding options (in shares) | shares 614,600
Options outstanding, weighted-average remaining contractual life (Year) 5 years 204 days
Options outstanding, weighted-average exercise price (in dollars per share) $ 5.69
Options exercisable, number of options exercisable (in shares) | shares 341,768
Options exercisable, weighted-average exercise price (in dollars per share) $ 5.77
Range Four [Member]  
Lower range limit (in dollars per share) 10
Upper range limit (in dollars per share) $ 15
Options outstanding, number of outstanding options (in shares) | shares 300,000
Options outstanding, weighted-average remaining contractual life (Year) 2 years
Options 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)