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Note 2 - Acquisition (Details Textual) - USD ($)
3 Months Ended 12 Months Ended
Jul. 22, 2014
Sep. 30, 2015
Dec. 31, 2016
Dec. 31, 2015
Dec. 31, 2014
Business Combination, Contingent Consideration Arrangements, Change in Amount of Contingent Consideration, Liability     $ (2,507,000)
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period     1,349,000 1,198,000 1,287,000
Restricted Stock Units (RSUs) [Member] | Sensima Employees [Member]          
Stock Granted, Value, Share-based Compensation, Gross $ 1,700,000        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 40,000        
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 4 years        
Performance Share Units [Member] | Sensima Employees [Member]          
Stock Granted, Value, Share-based Compensation, Gross $ 2,000,000        
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period 47,000        
Maximum PSU Earn Out $ 8,000,000        
Share-based Compensation Arrangement by Share-based Payment Award, Expense to be Recognized over Requisite Service Period     $ 2,000,000    
Performance Share Units [Member] | Sensima Employees [Member] | Remaining Half of RSU Awards [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period 2 years        
Know-How And Developed Technologies [Member] | Minimum [Member]          
Finite-Lived Intangible Asset, Useful Life     3 years    
Know-How And Developed Technologies [Member] | Maximum [Member]          
Finite-Lived Intangible Asset, Useful Life     5 years    
Sensima [Member]          
Business Acquisition, Percentage of Voting Interests Acquired 100.00%        
Escrow Deposit $ 1,200,000        
Business Combination, Contingent Consideration Arrangements, Range of Outcomes, Value, High 8,900,000        
Business Combination, Contingent Consideration, Liability $ 2,507,000   $ 0 $ 0  
Sensima [Member] | Sensima Employees [Member] | Share-based Compensation Award, Tranche One [Member]          
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage 50.00%        
Sensima [Member] | Know-How And Developed Technologies [Member] | Minimum [Member]          
Finite-Lived Intangible Asset, Useful Life 3 years        
Sensima [Member] | Know-How And Developed Technologies [Member] | Maximum [Member]          
Finite-Lived Intangible Asset, Useful Life 5 years        
Sensima [Member] | In Process Research and Development [Member]          
Finite-Lived Intangible Asset, Useful Life   4 years      
Sensima [Member] | Selling, General and Administrative Expenses [Member]          
Business Combination, Acquisition Related Costs $ 600,000        
Business Combination, Contingent Consideration Arrangements, Change in Amount of Contingent Consideration, Liability       $ (2,500,000)