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Note 7 - Stock-based Compensation - Summary of Restricted Common Stock Activity (Details) - $ / shares
12 Months Ended
Dec. 31, 2018
Dec. 31, 2017
Dec. 31, 2016
Restricted Stock [Member]      
Outstanding, Shares (in shares) 503,685 396,033 337,506
Outstanding, Weighted average grant date fair value (in dollars per share) $ 11.14 $ 12.06 $ 9.57
Granted, Shares (in shares) 391,836 307,943 237,500
Granted, Weighted average grant date fair value (in dollars per share) $ 14.63 $ 10.40 $ 12.88
Vested, Shares (in shares) (225,570) (200,291) (178,973)
Vested, Weighted average grant date fair value (in dollars per share) $ 11.21 $ 11.82 $ 8.46
Forfeited, Shares (in shares) (91,057) 0 0
Forfeited, Weighted average grant date fair value (in dollars per share) $ 13.27 $ 0 $ 0
Outstanding, Shares (in shares) 578,894 503,685 396,033
Outstanding, Weighted average grant date fair value (in dollars per share) $ 13.14 $ 11.14 $ 12.06
Restricted Stock [Member] | Common Class A [Member]      
Outstanding, Shares (in shares) 462,632 415,082 374,693
Outstanding, Weighted average grant date fair value (in dollars per share) $ 10.63 $ 10.15 $ 9.46
Granted, Shares (in shares) 220,080 275,076 218,612
Granted, Weighted average grant date fair value (in dollars per share) $ 12.65 $ 10.84 $ 11.25
Vested, Shares (in shares) (274,926) (227,526) (178,223)
Vested, Weighted average grant date fair value (in dollars per share) $ 10.48 $ 10 $ 10.04
Outstanding, Shares (in shares) 407,786 462,632 415,082
Outstanding, Weighted average grant date fair value (in dollars per share) $ 11.82 $ 10.63 $ 10.15
Restricted Stock Units (RSUs) [Member]      
Outstanding, Shares (in shares) 209,500 0 0
Outstanding, Weighted average grant date fair value (in dollars per share) $ 15.70 $ 0 $ 0
Granted, Shares (in shares) 215,500 0
Granted, Weighted average grant date fair value (in dollars per share) $ 15.70 $ 0
Vested, Shares (in shares) (209,500) 0 0
Vested, Weighted average grant date fair value (in dollars per share) $ 15.70 $ 0 $ 0
Forfeited, Shares (in shares) (6,000)
Forfeited, Weighted average grant date fair value (in dollars per share) $ 15.70
Outstanding, Shares (in shares) 209,500 0
Outstanding, Weighted average grant date fair value (in dollars per share) $ 15.70 $ 0