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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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The maximum percentage of the voting power of the Company, its parent or subsidiary that an employee can have to participate in the ESPP.

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Discount on the purchase price of common stock expressed as a percentage of its fair value.

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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.

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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.

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Unrecognized cost of unvested options awarded to employees as compensation.

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The total recognized tax benefit related to compensation cost for equity-based payment arrangements recognized in income during the period.

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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.

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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.

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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.

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Gross number of share options (or share units) granted during the period.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of options outstanding, including both vested and non-vested options.

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Number of shares for which recognition of compensation cost was accelerated.

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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.

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Purchase price of common stock expressed as a percentage of its fair value.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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Aggregate change in value for stock issued during the period as a result of employee stock purchase plan.

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Amount of stock repurchase plan authorized.

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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.

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