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Note 18 - Quarterly Financial Data (Unaudited) (Tables)
 12 Months Ended
Dec. 31, 2018
Notes Tables  
Quarterly Financial Information [Table Text Block]
Year 2018
   Quarter ended
December 31		   Quarter ended
September 30		   Quarter ended
June 30		   Quarter ended
March 31
Product revenue   $
26,950
     $
26,781
     $
30,542
     $
21,258
  
Total revenue    
26,956
      
26,787
      
30,548
      
21,264
  
Cost of product revenue    
7,001
      
8,282
      
8,152
      
7,845
  
Gross profit on product revenue    
19,949
      
18,499
      
22,390
      
13,413
  
Net income   $
7,717
     $
7,599
     $
10,092
     $
(6,686
 )
Per common share information:                                
Basic net income per share   $
0.54
     $
0.53
     $
0.69
     $
(0.46
 )
Basic common shares outstanding    
14,168
      
14,237
      
14,652
      
14,679
  
Diluted net income per share   $
0.54
     $
0.53
     $
0.68
     $
(0.46
 )
Diluted common shares outstanding    
14,299
      
14,377
      
14,915
      
14,679
  
Year 2017   Quarter ended
December 31		   Quarter ended
September 30		   Quarter ended
June 30		   Quarter ended
March 31
Product revenue   $
28,884
     $
27,178
     $
28,340
     $
23,381
  
Total revenue    
29,388
      
27,184
      
33,462
      
23,386
  
Cost of product revenue    
8,716
      
6,250
      
6,315
      
6,083
  
Gross profit on product revenue    
20,168
      
20,928
      
22,025
      
17,298
  
Net income   $
8,067
     $
6,887
     $
11,369
     $
5,493
  
Per common share information:                                
Basic net income per share   $
0.55
     $
0.47
     $
0.78
     $
0.38
  
Basic common shares outstanding    
14,596
      
14,579
      
14,588
      
14,576
  
Diluted net income per share   $
0.53
     $
0.46
     $
0.76
     $
0.37
  
Diluted common shares outstanding    
15,141
      
15,115
      
15,044
      
15,043