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Note 6 - Stockholders' Equity, Stock Plans and Stock-based Compensation Expense (Details Textual) - USD ($)		3 Months Ended	12 Months Ended
	Jun. 14, 2019	Sep. 30, 2019	Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017	Dec. 31, 2016	Oct. 31, 2017	Dec. 31, 2012
Common Stock, Par or Stated Value Per Share			$ 0.001	$ 0.001
Capital Stock, Shares Authorized			55,000,000
Common Stock, Shares Authorized			50,000,000	50,000,000
Common Stock, Shares, Issued, Total			14,315,586	13,968,852
Common Stock, Shares, Outstanding, Ending Balance			14,315,586	13,968,852
Preferred Stock, Shares Authorized			5,000,000
Preferred Stock, No Par Value			$ 0.001
Preferred Stock, Shares Issued, Total			0
Preferred Stock, Shares Outstanding, Ending Balance			0
Share-based Payment Arrangement, Expense			$ 9,832,000	$ 7,157,000	$ 5,110,000
Share Price			$ 35.81	$ 17.02	$ 45.35	$ 17.35
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value			$ 1,000,000	$ 8,300,000	$ 8,000,000
Proceeds from Issuance of Shares under Incentive and Share-based Compensation Plans, Including Stock Options, Net			$ 3,900,000	$ 1,300,000	$ 4,000,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross				21,010	278,250
Share-based Payment Arrangement, Shares Withheld for Tax Withholding Obligation			42,695	77,049	64,490
Share-based Payment Arrangement, Decrease for Tax Withholding Obligation			$ 800,000	$ 3,100,000	$ 1,500,000
Minimum [Member]
Share Based Compensation, Forfeiture Rate			0.00%
Maximum [Member]
Share Based Compensation, Forfeiture Rate			17.70%
Non-employees [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross				3,384	7,745
Restricted Stock Units (RSUs) [Member]
Share-based Payment Arrangement, Expense			$ 4,786,000	$ 4,648,000	$ 1,813,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period				963,814	265,124	412,208
Share Price			$ 35.81	$ 17.02	$ 45.35	$ 17.35
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Vested in Period, Fair Value			$ 5,900,000	$ 4,900,000	$ 2,500,000
Restricted Stock Units (RSUs) [Member] \| Non-employees [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period			9,303		2,478
Performance Shares [Member]
Share-based Payment Arrangement, Expense			$ 3,948,000	1,105,000	$ 2,093,000
Share-based Payment Arrangement, Option [Member]
Share-based Payment Arrangement, Expense			622,000	$ 838,000	$ 815,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total			$ 12,200,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition			2 years 233 days
Stock Purchase Plan [Member]
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total			$ 200,000
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Period for Recognition			120 days
1998 Stock Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized			4,650,000
Two Thousand Four Equity Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized			1,750,000
Number of Stock Awards Counted for Every Share Granted or Canceled			2.12
Two Thousand Nineteen Equity Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized	9,701,192
Number of Stock Awards Counted for Every Share Granted or Canceled	2.12
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized	700,000
Share Based Compensation by Share Based Payment Fully Vested Stock Awards Grant Date Fair Value								$ 60,000
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member]
Share Based Compensation by Share Based Payment Fully Vested Stock Awards Grant Date Fair Value							$ 60,000
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period			517,402	210,532	270,707
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member] \| Vest Over Each Anniversary of the Grant Date [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage			25.00%
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member] \| Non-employee Directors [Member]
Share Based Compensation by Share Based Payment Fully Vested Stock Awards Grant Date Fair Value			$ 42,236	$ 13,392	$ 21,605
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member] \| Non-employees [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period			4 years		4 years
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member] \| Non-employees [Member] \| Vest Over Each Anniversary of the Grant Date [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage					25.00%
Two Thousand Nineteen Equity Incentive Plan [Member] \| Restricted Stock Units (RSUs) [Member] \| Non-employees [Member] \| Vesting Each Anniversary of Grant Date [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage			25.00%
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Granted			387,172	47,824	117,418
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period			1 year
Share-based Payment Arrangement, Expense			$ 1,000,000
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Chief Executive Officer [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period		67,897
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Chief Executive Officer [Member] \| Vesting Over 2019 Through 2022 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period		4 years
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Chief Executive Officer [Member] \| Tranche 2019 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage		15.00%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period		10,185
Share Based Compensation Arrangement by Share Based Payment Award, Equity Instruments Other Than Options, Vested in Period, Percentage			85.00%
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Chief Executive Officer [Member] \| Tranche 2020 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage		25.00%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period		16,974
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Chief Executive Officer [Member] \| Tranche 2021 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage		30.00%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period		20,269
Two Thousand Nineteen Equity Incentive Plan [Member] \| Performance Shares [Member] \| Chief Executive Officer [Member] \| Tranche 2022 [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage		30.00%
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period		20,269
2004 Employee Stock Purchase Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized			600,000
Share-based Compensation Arrangement by Share-based Payment Award, Purchase Price of Common Stock, Percent			85.00%
Stock Issued During Period, Shares, Employee Stock Ownership Plan			82,810	64,511	78,479
Common Stock, Capital Shares Reserved for Future Issuance			761,705