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Note 9 - Stock-based Compensation - Summary of Restricted Common Stock Activity (Details) - $ / shares
9 Months Ended
Sep. 30, 2019
Sep. 30, 2018
Restricted Stock [Member]    
Outstanding, Shares (in shares) 578,894 503,685
Outstanding, Weighted average grant date fair value (in dollars per share) $ 13.14 $ 11.14
Granted, Shares (in shares) 718,783 391,836
Granted, Weighted average grant date fair value (in dollars per share) $ 16.08 $ 14.63
Vested, Shares (in shares) 0 (225,570)
Vested, Weighted average grant date fair value (in dollars per share) $ 0 $ 11.21
Forfeited, Shares (in shares) (352,810) (91,057)
Forfeited, Weighted average grant date fair value (in dollars per share) $ 12.98 $ 13.27
Outstanding, Shares (in shares) 944,867 578,894
Outstanding, Weighted average grant date fair value (in dollars per share) $ 15.44 $ 13.14
Restricted Stock [Member] | Common Class A [Member]    
Outstanding, Shares (in shares) 407,786 462,632
Outstanding, Weighted average grant date fair value (in dollars per share) $ 11.82 $ 10.63
Granted, Shares (in shares) [1] 199,810 220,080
Granted, Weighted average grant date fair value (in dollars per share) [1] $ 15.36 $ 12.65
Vested, Shares (in shares) (158,312) (274,926)
Vested, Weighted average grant date fair value (in dollars per share) $ 11.38 $ 10.48
Forfeited, Shares (in shares) 0 0
Forfeited, Weighted average grant date fair value (in dollars per share) $ 0 $ 0
Outstanding, Shares (in shares) 449,284 407,786
Outstanding, Weighted average grant date fair value (in dollars per share) $ 13.55 $ 11.82
Restricted Stock Units (RSUs) [Member]    
Outstanding, Shares (in shares) 0 209,500
Outstanding, Weighted average grant date fair value (in dollars per share) $ 0 $ 15.70
Granted, Shares (in shares) 398,000 0
Granted, Weighted average grant date fair value (in dollars per share) $ 18.21 $ 0
Vested, Shares (in shares) 0 (209,500)
Vested, Weighted average grant date fair value (in dollars per share) $ 0 $ 15.70
Forfeited, Shares (in shares) 0 0
Forfeited, Weighted average grant date fair value (in dollars per share) $ 0 $ 0
Outstanding, Shares (in shares) 398,000 0
Outstanding, Weighted average grant date fair value (in dollars per share) $ 18.21 $ 0
[1] For awards subject to future performance conditions, amounts assume target performance.