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Note 4 - Stockholders' Equity - Stock Options, Valuation Assumptions (Details) - $ / shares
3 Months Ended 6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Jun. 30, 2018
Jun. 30, 2017
Weighted average fair value (in dollars per share)     $ 4.28  
Stock Plans [Member]        
Expected life (Year) 4 years 149 days 4 years 156 days 4 years 149 days
Volatility 41.63% 42.22% 41.53%
Risk-free interest rate 1.67% 2.52% 1.69%
Expected dividend 0.00% 0.00%
Weighted average fair value (in dollars per share) $ 5.98 $ 4.28 $ 6.16
Employee Stock Purchase Plan [Member]        
Expected life (Year)     1 year 91 days 1 year 91 days
Volatility     37.23% 33.32%
Risk-free interest rate     1.93% 0.93%
Expected dividend     0.00% 0.00%
Weighted average fair value (in dollars per share)     $ 4.32 $ 6.78