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Note 6 - Shareholders' Equity - Stock Option Activity (Details) - USD ($)
$ / shares in Units, $ in Thousands
 12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Shares under Option, beginning of period (in shares) 1,860,211 2,323,581
Options outstanding - weighted average exercise price (in dollars per share) $ 5.96 $ 6.22
Options Granted (in shares) 217,500 244,750
Options granted - weighted average exercise price (in dollars per share) $ 9.68 $ 5.60
Options Exercised (in shares) (422,793) (333,305)
Options exercised - weighted average exercise price (in dollars per share) $ 4.49 $ 4.29
Options Forfeited or Expired (in shares) (78,831) (374,815)
Options forfeited or expired - weighted average exercise price (in dollars per share) $ 11.75 $ 8.11
Shares under option, end of period (in shares) 1,576,087 1,860,211
Options outstanding - weighted average exercise price (in dollars per share) $ 6.58 $ 5.96
Options outstanding - weighted average remaining contractual term (Year) 3 years 182 days  
Options outstanding - aggregate intrinsic value $ 1,946  
Vested and Expected to Vest (in shares) 1,475,570  
Options vested and expected to vest - weighted average exercise price (in dollars per share) $ 6.56  
Options vested and expected to vest - weighted average remaining contractual term (Year) 3 years 135 days  
Options vested and expected to vest - aggregate intrinsic value $ 1,851  
Options Exercisable (in shares) 1,064,127 1,649,594
Options exercisable, weighted-average exercise price (in dollars per share) $ 5.89 $ 4.63
Options exercisable - weighted average remaining contractual term (Year) 2 years 251 days  
Options exercisable - aggregate intrinsic value $ 1,565