Consolidated Balance Sheets (Parentheticals) - USD ($) $ in Thousands	12 Months Ended
	Dec. 31, 2015	Dec. 31, 2014
Convertible Preferred Stock [Member]
Convertible Preferred Stock, Shares Authorized (in shares)	10,000,000	10,000,000
Convertible Preferred Stock, Par Value (in dollars per share)	$ 0.001	$ 0.001
Convertible Preferred Stock, Shares Issued (in shares)	803,518	0
Convertible Preferred Stock, Shares Outstanding (in shares)	803,518	0
Cash Dividends [Member]
Convertible Preferred Stock, Dividend Rate	5.50%
Paid-in-kind Dividends [Member]
Convertible Preferred Stock, Dividend Rate	8.50%
Accounts receivable, allowance	$ 5,587	$ 4,515
Convertible Preferred Stock, Shares Outstanding (in shares)	803,518
Common stock, shares authorized (in shares)	40,000,000	40,000,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares issued (in shares)	17,186,780	16,870,285
Common stock, shares outstanding (in shares)	17,186,780	16,870,285
Treasury shares, shares (in shares)	1,895,998	1,014,108