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Note 9 - Stock-based Compensation - Assumptions Used to Estimate the Fair Value of the ESPP (Details) - ESPP [Member]
6 Months Ended
Jun. 30, 2018
Jun. 30, 2017
Risk-free interest rate
Expected life (months) (Month) 180 days 180 days
Expected volatility
Expected dividend yield 0.00% 0.00%
Minimum [Member]    
Risk-free interest rate 1.48% 0.59%
Expected life (months) (Month) 180 days 180 days
Expected volatility 24.49% 34.51%
Expected dividend yield 0.00% 0.00%
Maximum [Member]    
Risk-free interest rate 2.06% 0.97%
Expected life (months) (Month) 180 days 180 days
Expected volatility 31.50% 39.51%
Expected dividend yield 0.00% 0.00%