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Note 4 - Stockholders' Equity (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
1 Months Ended 3 Months Ended 9 Months Ended 23 Months Ended
May 31, 2017
Oct. 25, 2016
Jul. 31, 2001
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Sep. 30, 2017
Sep. 30, 2018
Dec. 31, 2017
Dec. 31, 2001
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period           30,000        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance       1,045,000   1,045,000   1,045,000 1,045,000  
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross       87,000   98,000        
Share Price       $ 9.03   $ 9.03   $ 9.03    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value           $ 0.3        
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested in Period, Fair Value           $ 0.3        
Stock Repurchase Program, Authorized Amount   $ 25.0                
Stock Repurchase Program, Period in Force   2 years                
Treasury Stock, Shares, Acquired       0   437,007   1,279,189    
Treasury Stock Acquired, Average Cost Per Share               $ 14.59    
Treasury Stock, Value, Acquired, Cost Method               $ 18.7    
Stock Repurchase Program, Remaining Authorized Repurchase Amount       $ 25.0   $ 25.0   25.0    
Employee Stock Option [Member]                    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Total       1.1   $ 1.1   1.1    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition           3 years        
Restricted Stock Units (RSUs) [Member]                    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Total       $ 14.0   $ 14.0   $ 14.0    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition           2 years 73 days        
Twenty Eleven Stock Incentive Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized 7,800,000                  
Share Based Compensation Arrangement By Share Based Payment Award Shares Reserved Decrease Rate 1.33                  
Common Stock, Capital Shares Reserved for Future Issuance       9,600,000   9,600,000   9,600,000    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant       4,000,000   4,000,000   4,000,000    
Twenty Eleven Stock Incentive Plan [Member] | Employee Stock Option [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period 10 years                  
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 4 years                  
Shares Previously Issued Under the 2001 Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized                   3,500,000
Two Thousand One Stock Incentive Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Forfeitures in Period           500,000        
Outside of the 2011, 2001 or IDS Plans [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance       0   0   0    
Employee Stock Purchase Plan [Member]                    
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period     10 years              
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Total       $ 1.7   $ 1.7   $ 1.7    
Employee Service Share-based Compensation, Nonvested Awards, Compensation Cost Not yet Recognized, Period for Recognition           1 year 302 days        
Share-based Compensation Arrangement by Share-based Payment Award, Maximum Employee Subscription Rate     10.00%              
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent     85.00%              
ESPP Maximum Annual Share Replenishment     675,000              
ESPP Maximum Annual Share Replenishment Percentage of Prior Year Outstanding Company Common Stock     2.00%              
Stock Issued During Period, Shares, Employee Stock Purchase Plans       92,345 99,550 200,704 199,827      
Employee Stock Purchase Plan Weighted Average Purchase Price of Shares Purchased       $ 8.925 $ 9.53 $ 9.12 $ 9.33      
Number Of ESPP Shares Available For Future Issuance       4,700,000   4,700,000   4,700,000