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Condensed Consolidated Balance Sheets (Current Period Unaudited) (Parentheticals) - USD ($)
$ / shares in Thousands
Mar. 31, 2017
Dec. 31, 2016
Common stock, par value (in dollars per share) $ 0 $ 0
Common stock, shares authorized (in shares) 100,000,000 100,000,000
Common stock, shares issued (in shares) 71,537,997 71,229,497
Accounts receivable, allowance for doubtful accounts $ 3,622 $ 3,163
Treasury stock, shares (in shares) 5,213,038 5,135,406
Common Class A [Member]    
Common stock, par value (in dollars per share) $ 0 $ 0
Common stock, shares authorized (in shares) 15,000,000 15,000,000
Common stock, shares issued (in shares) 8,272,213 8,073,993
Treasury stock, shares (in shares) 1,750,692 1,669,131