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Note 9 - Share-based Payments (Details Textual) - USD ($) |  | 1 Months Ended | 3 Months Ended | 12 Months Ended | 30 Months Ended |  |  |
--- | --- | --- | --- | --- | --- | --- | --- | ---
Mar. 17, 2016 | Dec. 31, 1999 | Dec. 31, 2017 | Sep. 30, 2017 | Jun. 30, 2017 | Mar. 31, 2017 | Dec. 31, 2017 | Dec. 31, 2016 | Dec. 31, 2015 | Dec. 31, 2014 | Jun. 30, 2005 | Jun. 30, 2003 | Jun. 30, 2002 | Mar. 01, 2017 | Dec. 12, 2016 | Mar. 09, 2016
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  |  |  |  |  |  | 105,000 | 217,700 | 56,666 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period |  |  |  |  |  |  | 10 years |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  |  | 764,430 |  |  |  | 764,430 | 850,232 | 1,028,935 | 1,040,081 |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value |  |  |  |  |  |  | $ 3.31 | $ 4.27 | $ 5.27 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value |  |  |  |  |  |  | $ 646,000 | $ 2,824,000 | $ 404,000 |  |  |  |  |  |  |
Allocated Share-based Compensation Expense |  |  |  |  |  |  | 665,000 | 667,000 | 848,000 |  |  |  |  |  |  |
Employee Service Share-based Compensation, Tax Benefit from Compensation Expense |  |  |  |  |  |  | 0 | 107,000 | 41,000 |  |  |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Not yet Recognized, Stock Options |  |  | $ 829,000 |  |  |  | $ 829,000 |  |  |  |  |  |  |  |  |
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition |  |  |  |  |  |  | 1 year 292 days |  |  |  |  |  |  |  |  |
Stock Issued During Period, Value, Employee Stock Purchase Plan |  |  |  |  |  |  | $ 66,000 | 87,000 | $ 155,000 |  |  |  |  |  |  |
Stock Repurchased During Period, Shares |  |  | 118,544 | 139,570 | 214,866 | 78,956 | 551,936 |  |  | 272,767 |  |  |  |  |  |
Stock Repurchased During Period, Value |  |  |  |  |  |  | $ 5,119,000 | $ 6,086,000 |  | $ 2,598,000 |  |  |  |  |  |
Stock Repurchase Program, Authorized Amount |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 10,000,000
Stock Repurchase Program, Additional Authorized Amount |  |  |  |  |  |  |  |  |  |  |  |  |  | $ 10,000,000 |  |
Directors and Officers [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |
Other Employees [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  | 4 years |  |  |  |  |  |  |  |  |
The 1998 Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross |  | 1,066,000 |  |  |  |  |  |  |  |  |  |  | 1,248,250 |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  | 9 years 292 days |  |  |  |  |  |  |  |  |  |  | 6 years |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Accelerated Vesting, Number |  |  |  |  |  |  |  |  |  |  | 300,494 | 637,089 |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  | 2,500,000 |  |  |  | 2,500,000 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  |  | 0 |  |  |  | 0 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares, Authorized and Unissued |  |  | 0 |  |  |  | 0 |  |  |  |  |  |  |  |  |
The 2007 Equity Incentive Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  |  |  |  |  |  |  |  |  |  |  |  |  | 2,000,000 |
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number |  |  | 764,430 |  |  |  | 764,430 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares, Authorized and Unissued |  |  | 774,456 |  |  |  | 774,456 |  |  |  |  |  |  |  |  |
The 2007 Equity Incentive Plan [Member] | Minimum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  | 3 years |  |  |  |  |  |  |  |  |
The 2007 Equity Incentive Plan [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period |  |  |  |  |  |  | 4 years |  |  |  |  |  |  |  |  |
Employee Stock Purchase Plan [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized |  |  | 500,000 |  |  |  | 500,000 |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant |  |  | 466,783 |  |  |  | 466,783 |  |  |  |  |  |  |  |  |
ESPP Participation Criteria, Maximum Percentage of Voting Power |  |  | 5.00% |  |  |  | 5.00% |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Employee Stock Purchase Plans |  |  |  |  |  |  | 9,110 | 9,140 | 14,982 |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent |  |  |  |  |  |  | 85.00% |  |  |  |  |  |  |  |  |
Share-based Compensation Arrangement by Share-based Payment Award, Discount on Purchase Price of Common Stock, Percent |  |  |  |  |  |  | 15.00% |  |  |  |  |  |  |  |  |
Employee Stock Purchase Plan [Member] | Maximum [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Issued During Period, Shares, Employee Stock Purchase Plans |  |  |  |  |  |  | 2,500 |  |  |  |  |  |  |  |  |
Stock Issued During Period, Value, Employee Stock Purchase Plan |  |  |  |  |  |  | $ 25,000 |  |  |  |  |  |  |  |  |
The 1998 Incentive Plan and 2007 Equity Incentive Plan [Member] | Employees and Directors [Member] |  |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Options Repurchased During Period, Shares | 225,542 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |
Stock Options Repurchase Program, Average Purchase Price Per Share | $ 7.77 |  |  |  |  |  |  |  |  |  |  |  |  |  |  |

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- Definition Represents the expense recognized during the period arising from equity-based compensation arrangements (for example, shares of stock, unit, stock options or other equity instruments) with employees, directors and certain consultants qualifying for treatment as employees. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SAB Topic 14.F) -URI http://asc.fasb.org/extlink&oid=27013229&loc=d3e301413-122809 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 1 -Subparagraph (b) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5047-113901 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Weighted average period over which unrecognized compensation is expected to be recognized for equity-based compensation plans, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Unrecognized cost of unvested options awarded to employees as compensation. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (i) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The total recognized tax benefit related to compensation cost for equity-based payment arrangements recognized in income during the period. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (h)(1)(i) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Period which an employee's right to exercise an award is no longer contingent on satisfaction of either a service condition, market condition or a performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The maximum number of shares (or other type of equity) originally approved (usually by shareholders and board of directors), net of any subsequent amendments and adjustments, for awards under the equity-based compensation plan. As stock or unit options and equity instruments other than options are awarded to participants, the shares or units remain authorized and become reserved for issuance under outstanding awards (not necessarily vested). + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(3) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition The difference between the maximum number of shares (or other type of equity) authorized for issuance under the plan (including the effects of amendments and adjustments), and the sum of: 1) the number of shares (or other type of equity) already issued upon exercise of options or other equity-based awards under the plan; and 2) shares (or other type of equity) reserved for issuance on granting of outstanding awards, net of cancellations and forfeitures, if applicable. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Amount of accumulated difference between fair value of underlying shares on dates of exercise and exercise price on options exercised (or share units converted) into shares. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(2) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Gross number of share options (or share units) granted during the period. + References No definition available. + Details
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- Definition The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (d)(1) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Number of options outstanding, including both vested and non-vested options. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (c)(1)(i)-(ii) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Number of shares for which recognition of compensation cost was accelerated. + References No definition available. + Details
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- Definition Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 718 -SubTopic 10 -Section 50 -Paragraph 2 -Subparagraph (a)(2) -URI http://asc.fasb.org/extlink&oid=96867065&loc=d3e5070-113901 + Details
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- Definition Purchase price of common stock expressed as a percentage of its fair value. + References No definition available. + Details
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- Definition Number of shares issued during the period as a result of an employee stock purchase plan. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=84159872&loc=d3e21463-112644 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 4: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=27012166&loc=d3e187085-122770 + Details
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- Definition Number of shares that have been repurchased during the period and have not been retired and are not held in treasury. Some state laws may govern the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=27012166&loc=d3e187085-122770 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 4: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=84159872&loc=d3e21463-112644 + Details
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- Definition Equity impact of the value of stock that has been repurchased during the period and has not been retired and is not held in treasury. Some state laws may mandate the circumstances under which an entity may acquire its own stock and prescribe the accounting treatment therefore. This element is used when state law does not recognize treasury stock. + References Reference 1: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.3-04) -URI http://asc.fasb.org/extlink&oid=27012166&loc=d3e187085-122770 Reference 2: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(29)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 Reference 3: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 505 -SubTopic 10 -Section 50 -Paragraph 2 -URI http://asc.fasb.org/extlink&oid=84159872&loc=d3e21463-112644 Reference 4: http://www.xbrl.org/2003/role/presentationRef -Publisher FASB -Name Accounting Standards Codification -Topic 210 -SubTopic 10 -Section S99 -Paragraph 1 -Subparagraph (SX 210.5-02(28)) -URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682 + Details
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