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Note 8 - Contract Balance (Tables)
 6 Months Ended
Jun. 30, 2018
Notes Tables  
Deferred Revenue, by Arrangement, Disclosure [Table Text Block]
   
Three Months Ended
    
Six Months Ended
  
   
June 30,
    
June 30,
  
   
2018
    
2017
    
2018
    
2017
  
Beginning Balance
   $
11,015
     $
9,555
     $
11,656
     $
9,431
  
Add: Payments received
    
4,739
      
3,721
      
8,416
      
7,112
  
Less: Revenue recognized
    
(3,947)
      
(3,263)
 
    
(8,265)
      
(6,530)
 
Ending Balance
   $
11,807
     $
10,013
     $
11,807
     $
10,013