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Note 12 - Shareholders' Equity - Stock Option Activity (Details) - USD ($)
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Dec. 31, 2018
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross 76,000 0 108,000  
Stock Option Plan 2001 [Member]        
Options outstanding, Shares (in shares) 46,293 81,893 192,893  
Options outstanding, Weighted average exercise price (in dollars per share) $ 2.95 $ 2.95 $ 5.75  
Options cancelled, Shares (in shares)     (55,800)  
Options cancelled, Weighted average exercise price (in dollars per share)     $ 12.61  
Options exercised, Shares (in shares) (40,100) (35,600) (55,200)  
Options exercised, Weighted average exercise price (in dollars per share) $ 2.95 $ 2.95 $ 2.95  
Options outstanding, Shares (in shares) 6,193 46,293 81,893  
Options outstanding, Weighted average exercise price (in dollars per share) $ 2.95 $ 2.95 $ 5.75 $ 2.95
Options outstanding, Weighted average remaining contractual term in years (Year) 73 days      
Options outstanding, Intrinsic value       $ 122,000
Options exercisable, Shares (in shares)       6,193
Options exercisable, Weighted average exercise price (in dollars per share) $ 2.95      
Options exercisable, Weighted average remaining contractual term in years (Year) 73 days      
Options exercisable, Intrinsic value       $ 122,000
Expected to vest, Shares (in shares)      
Options outstanding, Weighted average exercise price (in dollars per share) $ 2.95 $ 2.95 $ 2.95  
Options exercisable, Weighted average exercise price (in dollars per share) $ 2.95     $ 2.95
Stock Option Plan 2013 [Member]        
Options outstanding, Shares (in shares) 160,600 192,800 102,400  
Options outstanding, Weighted average exercise price (in dollars per share) $ 7.72 $ 7.60 $ 6.32  
Options cancelled, Shares (in shares) (6,500) (7,200) (9,600)  
Options cancelled, Weighted average exercise price (in dollars per share) $ 20.55 $ 8.14 $ 7.94  
Options exercised, Shares (in shares) (33,600) (25,000) (8,000)  
Options exercised, Weighted average exercise price (in dollars per share) $ 7.19 $ 6.65 $ 6.32  
Options outstanding, Shares (in shares) 196,500 160,600 192,800  
Options outstanding, Weighted average exercise price (in dollars per share) $ 7.72 $ 7.60 $ 6.32 $ 13.84
Options outstanding, Weighted average remaining contractual term in years (Year) 5 years 146 days      
Options outstanding, Intrinsic value       $ 1,863,000
Options exercisable, Shares (in shares)       79,800
Options exercisable, Weighted average exercise price (in dollars per share) $ 7.33      
Options exercisable, Weighted average remaining contractual term in years (Year) 4 years 36 days      
Options exercisable, Intrinsic value       $ 1,227,000
Expected to vest, Shares (in shares)       103,583
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross 76,000 0 108,000  
Option granted, Weighted average exercise price (in dollars per share) $ 24.40   $ 8.75  
Options outstanding, Weighted average exercise price (in dollars per share) 13.84 $ 7.72 $ 7.60  
Options exercisable, Weighted average exercise price (in dollars per share) $ 7.33     $ 7.33
Expected to vest, Weighted average exercise price (in dollars per share)       $ 18.28
Expected to vest, Weighted average remaining contractual term in years (Year) 6 years 146 days      
Expected to vest, Intrinsic value       $ 565,000