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Note 13 - Intellectual Property - License Agreements (Details Textual)
$ in Millions
12 Months Ended
Dec. 31, 2016
USD ($)
Dec. 31, 2015
USD ($)
Dec. 31, 2014
USD ($)
Number of License Agreements 3    
Royalty Expense $ 6.8 $ 5.1 $ 4.8
License Costs $ 0.2 $ 0.2 $ 0.1
Aggregate Royalty Rate, Percent of Gross Product and Service Revenue 8.00% 8.00% 10.00%