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Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - $ / shares
Mar. 31, 2017
Dec. 31, 2016
Preferred stock, par value (in dollars per share) $ 0.01 $ 0.01
Preferred stock, shares authorized (in shares) 1,000,000 1,000,000
Preferred stock, shares outstanding (in shares) 0 0
Common stock, par value (in dollars per share) $ 0.01 $ 0.01
Common Class A [Member]    
Common stock, shares authorized (in shares) 60,000,000 60,000,000
Common stock, shares outstanding (in shares) 30,481,059 30,007,088
Treasury stock, shares (in shares) 934,171 934,171
Common Class B [Member]    
Common stock, shares authorized (in shares) 20,000,000 20,000,000
Common stock, shares outstanding (in shares) 9,200,199 9,245,447
Treasury stock, shares (in shares) 3,894,409 3,650,491