Condensed Consolidated Balance Sheets (Parentheticals) - USD ($) $ in Thousands	Jun. 30, 2016	Dec. 31, 2015
Statement of Financial Position [Abstract]
Allowance for doubtful accounts	$ 1,687	$ 1,772
Accumulated depreciation	23,921	23,414
Accumulated amortization	$ 7,886	$ 7,452
Common stock, par value (in dollars per share)	$ 0.01	$ 0.01
Common stock, shares authorized (in shares)	40,000,000	40,000,000
Common stock, shares issued (in shares)	23,539,342	23,419,008
Common stock outstanding (in shares)	23,257,804	23,167,216