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Note 4 - Stockholders' Equity - Stock Options, Valuation Assumptions (Details) - $ / shares
3 Months Ended 9 Months Ended
Sep. 30, 2016
Sep. 30, 2015
Sep. 30, 2016
Sep. 30, 2015
Stock Plans [Member]        
Expected life (in years) 4 years 153 days 4 years 186 days 4 years 153 days 4 years 186 days
Volatility 42.97% 45.56% 43.82% 45.96%
Risk-free interest rate 1.10% 1.38% 1.20% 1.36%
Expected dividend 0.00% 0.00%
Weighted average fair value per share (in dollars per share) $ 5.52 $ 5.48 $ 4.82 $ 5.85
Employee Stock Purchase Plan [Member]        
Expected life (in years)     1 year 91 days 1 year 91 days
Volatility     44.00% 50.12%
Risk-free interest rate     0.50% 0.34%
Expected dividend    
Weighted average fair value per share (in dollars per share)     $ 3.70 $ 5.51