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Note 11 - Commitments and Contingencies (Details Textual)
3 Months Ended 12 Months Ended
Feb. 02, 2017
USD ($)
Oct. 09, 2015
ft²
Dec. 31, 2015
USD ($)
Dec. 31, 2016
USD ($)
ft²
Dec. 31, 2015
USD ($)
Dec. 31, 2014
USD ($)
Construction in Progress, Gross     $ 11,274,000 $ 22,695,000 $ 11,274,000  
Operating Leases, Rent Expense       1,300,000 1,300,000 $ 1,400,000
Standard and Extended Product Warranty Accrual     0 $ 0 $ 0  
Bedford Massachusetts [Member]            
Area of Real Estate Property | ft²       134,000    
Lessee Leasing Arrangements, Operating Leases, Term of Contract       10 years 182 days    
Option to Extend Operating Lease Term, Number of Periods       3    
Bedford Massachusetts [Member] | Next Two Renewal Options [Member]            
Lessee Leasing Arrangements, Operating Leases, Renewal Term       5 years    
Bedford Massachusetts [Member] | Final Renewal Option [Member]            
Lessee Leasing Arrangements, Operating Leases, Renewal Term       6 years    
Bedford Massachusetts [Member] | Subsequent Event [Member]            
Lessee Leasing Arrangements, Annual Base Rent $ 1,500,000          
European Headquarters Facility [Member]            
Area of Real Estate Property | ft²   33,000        
Lessee Leasing Arrangements, Term of Contract   15 years        
Lessee Leasing Arrangements, Number of Renewal Terms   3        
Lessee Leasing Arrangements, Renewal Term   6 years        
Lessee Leasing Arrangements Ability to Withdraw With Penalty   6 years        
Lessee Leasing Arrangements Ability to Withdrawn Without Penalty   9 years        
Lessee Leasing Arrangements Initial Yearly Rent     $ 300,000      
Construction in Progress, Gross       $ 1,700,000    
Abano Terme, Italy [Member]            
Area of Real Estate Property | ft²       28,000