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Note 11 - Stock-based Compensation (Tables)
 3 Months Ended
Mar. 31, 2020
Notes Tables  
Share-based Payment Arrangement, Option, Activity [Table Text Block]
   
Number of Options
    
Weighted Average Exercise Price
    
Weighted Average Remaining Contract Term (years)
    
Aggregate Intrinsic Value (in thousands)
  
Options outstanding as of December 31, 2019
    
1,382,986
     $
9.10
      
5.45
     $
4,793
  
Granted
    
-
      
-
      
-
      
-
  
Exercised
    
(15,544
 )   $
10.15
      
 
      
 
  
Canceled or forfeited
    
(4,274
 )   $
10.15
      
 
      
 
  
Options outstanding as of March 31, 2020
    
1,363,168
     $
9.08
      
5.04
     $
-
  
Options exercisable as of March 31, 2020
    
1,233,857
     $
8.54
      
4.80
     $
-
  
Nonvested Restricted Stock Shares Activity [Table Text Block]
   
Shares Outstanding
    
Grant Date Fair Value (per share)
  
Restricted Stock Outstanding as of December 31, 2019
    
712,496
     $
23.66
  
Granted    
38,941
     $
10.45
  
Vested    
(75,565
 )   $
23.84
  
Canceled or forfeited    
(23,199
 )   $
24.74
  
Restricted stock outstanding as of March 31, 2020
    
652,673
     $
22.82