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Note 17 - Quarterly Financial Data (Unaudited) (Tables)
 12 Months Ended
Dec. 31, 2016
Notes Tables  
Quarterly Financial Information [Table Text Block]
Year 2016   Quarter ended
December 31		   Quarter ended
September 30		   Quarter ended
June 30		   Quarter ended
March 31
Product revenue   $
28,296
     $
25,783
     $
26,575
     $
22,278
  
Total revenue    
28,726
      
25,789
      
26,581
      
22,283
  
Cost of product revenue    
7,539
      
4,998
      
6,065
      
5,425
  
Gross profit on product revenue    
20,757
      
20,785
      
20,510
      
16,853
  
Net income   $
8,085
     $
8,952
     $
8,615
     $
6,895
  
Per common share information:                                
Basic net income per share   $
0.56
     $
0.61
     $
0.59
     $
0.46
  
Basic common shares outstanding    
14,538
      
14,625
      
14,679
      
14,875
  
Diluted net income per share   $
0.54
     $
0.59
     $
0.57
     $
0.45
  
Diluted common shares outstanding    
14,979
      
15,077
      
15,111
      
15,307
  
Year 2015   Quarter ended
December 31		   Quarter ended
September 30		   Quarter ended
June 30		   Quarter ended
March 31
Product revenue   $
25,607
     $
23,676
     $
22,898
     $
15,515
  
Total revenue    
30,894
      
23,681
      
22,904
      
15,520
  
Cost of product revenue    
6,290
      
5,176
      
5,274
      
4,313
  
Gross profit on product revenue    
19,317
      
18,500
      
17,624
      
11,202
  
Net income   $
11,042
     $
8,380
     $
7,820
     $
3,516
  
Per common share information:                                
 Basic net income per share   $
0.74
     $
0.56
     $
0.52
     $
0.24
  
Basic common shares outstanding    
14,965
      
14,967
      
14,961
      
14,905
  
Diluted net income per share   $
0.72
     $
0.55
     $
0.51
     $
0.23
  
Diluted common shares outstanding    
15,353
      
15,316
      
15,336
      
15,330