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Note 3 - Fair Value Measurements (Tables)
6 Months Ended
Jun. 30, 2016
Notes Tables  
Fair Value, Assets Measured on Recurring Basis [Table Text Block]
    As of June 30, 2016
    Quoted Prices
in Active
Markets
(Level 1)
  Significant
Observable
Inputs
(Level 2)
  Significant
Unobservable
Inputs
(Level 3)
  Total
Assets                                
Cash equivalents   $ 32,136     $ -     $ -     $ 32,136  
Government securities     19,486       -       -       19,486  
Total   $ 51,622     $ -     $ -     $ 51,622  
                                 
Liabilities                                
Foreign currency forward contracts   $ -     $ 241     $ -     $ 241  
Total   $ -     $ 241     $ -     $ 241  
    As of December 31, 2015
    Quoted Prices
in Active
Markets
(Level 1)
  Significant
Observable
Inputs
(Level 2)
  Significant
Unobservable
Inputs
(Level 3)
  Total
Assets                                
Cash equivalents   $ 39,233     $ -     $ -     $ 39,233  
Government securities     25,232       -       -       25,232  
Total   $ 64,465     $ -     $ -     $ 64,465  
                                 
Liabilities                                
Foreign currency forward contracts   $ -     $ 537     $ -     $ 537  
Total   $ -     $ 537     $ -     $ 537  
Available-for-sale Securities [Table Text Block]
    Amortized Cost   Unrealized Gains   Unrealized Losses   Fair Value
June 30, 2016                                
Government securities                                
(Due within 1 year)   $ 19,476     $ 10     $ -     $ 19,486  
    $ 19,476     $ 10     $ -     $ 19,486  
                                 
December 31, 2015                                
Government securities                                
(Due within 1 year)   $ 25,243     $ 1     $ (12 )   $ 25,232  
    $ 25,243     $ 1     $ (12 )   $ 25,232