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Note 7 - Stock-based Compensation (Details Textual) - USD ($)
$ / shares in Units, $ in Millions
9 Months Ended
Sep. 30, 2018
Sep. 30, 2017
Dec. 31, 2017
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance 274,746   274,746
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Weighted Average Exercise Price, Ending Balance $ 1.99   $ 1.99
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Intrinsic Value $ 4.3    
Common Class A [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance 0   0
Service Based Restricted Stock [Member] | Common Class A [Member] | Employee [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 110,040    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 12.65    
Service Based Restricted Stock [Member] | Common Class A [Member] | Employee [Member] | Share-based Compensation Award, Tranche One [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 36,680    
Service Based Restricted Stock [Member] | Common Class A [Member] | Employee [Member] | Share-based Compensation Award, Tranche Two [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 36,680    
Service Based Restricted Stock [Member] | Common Class A [Member] | Employee [Member] | Share-based Compensation Award, Tranche Three [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 36,680    
Performance Based Restricted Stock [Member] | Common Class A [Member] | Employee [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 110,040    
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 12.65    
Restricted Stock [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 391,836 307,943  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 14.63 $ 10.40  
Restricted Stock [Member] | Employee [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 318,196 307,943  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value $ 15.25    
Restricted Stock [Member] | Employee [Member] | Share-based Compensation Award, Tranche One [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 131,106    
Restricted Stock [Member] | Employee [Member] | Share-based Compensation Award, Tranche Two [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 69,651    
Restricted Stock [Member] | Employee [Member] | Share-based Compensation Award, Tranche Three [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 69,652    
Restricted Stock [Member] | Employee [Member] | Share-based Compensation Award, Tranche One, Vesting January 31, 2018 [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   102,648  
Restricted Stock [Member] | Employee [Member] | Share-based Compensation Award, Tranche Two, Vesting January 31, 2019 [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   86,783  
Restricted Stock [Member] | Employee [Member] | Share-based Compensation Award, Tranche Three, Vesting January 31, 2020 [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   86,781  
Restricted Stock [Member] | Director [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 73,640 76,856  
Restricted Stock [Member] | Common Class A [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period [1] 220,080 275,076  
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period, Weighted Average Grant Date Fair Value [1] $ 12.65 $ 10.84  
Restricted Stock [Member] | Common Class A [Member] | Employee [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   198,220  
Restricted Stock [Member] | Common Class A [Member] | Employee [Member] | Share-based Compensation Award, Tranche One, Vesting January 31, 2018 [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   66,073  
Restricted Stock [Member] | Common Class A [Member] | Employee [Member] | Share-based Compensation Award, Tranche Two, Vesting January 31, 2019 [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   66,073  
Restricted Stock [Member] | Common Class A [Member] | Employee [Member] | Share-based Compensation Award, Tranche Three, Vesting January 31, 2020 [Member]      
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period   66,074  
[1] For awards subject to future performance conditions, amounts assume target performance.