Condensed Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - USD ($) $ in Thousands	3 Months Ended	12 Months Ended
Mar. 31, 2017	Dec. 31, 2016
Accounts receivable allowance	$ 5,431	$ 5,901
Common stock, shares authorized (in shares)	40,000,000	40,000,000
Common stock, par value (in dollars per share)	$ 0.001	$ 0.001
Common stock, shares issued (in shares)	17,406,110	17,315,661
Common stock, shares outstanding (in shares)	17,406,110	17,315,661
Treasury shares, shares (in shares)	3,943,985	3,478,676
Convertible Preferred Stock [Member]
Convertible Preferred Stock, Shares Authorized (in shares)	10,000,000	10,000,000
Convertible Preferred Stock, Par Value (in dollars per share)	$ 0.001	$ 0.001
Convertible Preferred Stock, Shares Issued (in shares)	803,398	803,398
Convertible Preferred Stock, Shares Outstanding (in shares)	803,398	803,398
Convertible Preferred Stock [Member] \| Cash Dividends [Member]
Convertible Preferred Stock, Dividend Rate	5.50%	5.50%
Convertible Preferred Stock [Member] \| Paid-in-kind Dividends [Member]
Convertible Preferred Stock, Dividend Rate	8.50%	8.50%

A valuation allowance for trade and other receivables due to an Entity within one year (or the normal operating cycle, whichever is longer) that are expected to be uncollectible.

Reference 1: http://www.xbrl.org/2003/role/presentationRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 210
-SubTopic 10
-Section S99
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-URI http://asc.fasb.org/extlink&oid=6877327&loc=d3e13212-122682

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