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Note 3 - Stock-based Compensation - Valuation Assumptions (Details) - 2004 Employee Stock Plan [Member] - Employee Stock Purchase Plan [Member]
6 Months Ended
Jun. 30, 2019
Jun. 30, 2018
Expected term (in years) (Year) 6 months 6 months
Expected volatility 37.30% 28.20%
Risk-free interest rate 2.50% 1.80%
Dividend yield 1.20% 1.00%