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Note 11 - Stock Option and Equity Incentive Plans (Details Textual)
12 Months Ended
Jun. 09, 2016
$ / shares
shares
Feb. 22, 2016
USD ($)
Dec. 31, 2016
USD ($)
$ / shares
shares
Dec. 31, 2015
USD ($)
$ / shares
shares
Dec. 31, 2014
USD ($)
$ / shares
shares
Dec. 31, 2013
$ / shares
shares
Stock Issued During Period, Value, Share-based Compensation, Net of Forfeitures | $     $ 1,056,000 $ 1,069,000 $ 1,119,000  
Adjustments to Additional Paid in Capital, Income Tax Benefit from Share-based Compensation | $     $ 145,000 $ 356,000 1,219,000  
Employee and Nonemployee Stock Option [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number     232,578 270,205    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross     17,184      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Exercises in Period, Intrinsic Value | $     $ 700,000 $ 1,300,000 3,400,000  
Proceeds from Stock Options Exercised | $     $ 695,000 $ 394,000 $ 709,000  
Shares Paid for Exercise Price and Tax Withholding for Share Based Compensation     6,514 1,632 32,164  
Shares Paid for Exercise Price of Awards     6,514 1,632 14,931  
Shares Paid for Tax Withholding for Share Based Compensation     0 0 17,233  
Shares Paid for Exercise Price and Tax Withholding for Share-based Compensation, Average Market Price | $ / shares     $ 25.50 $ 21.97 $ 25.42  
Allocated Share-based Compensation Expense | $     $ 238,000 $ 282,000 $ 354,000  
Common Stock [Member] | Non-employee Members of Board of Directors [Member]            
Allocated Share-based Compensation Expense | $     $ 105,000 105,000 $ 122,000  
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued in Period 4,764          
Share Price | $ / shares $ 22.02          
Restricted Stock Units (RSUs) [Member]            
Shares Paid for Tax Withholding for Share Based Compensation     3,389   3,405 9,878
Allocated Share-based Compensation Expense | $     $ 314,000 274,000 $ 237,000  
Shares Paid for Tax Withholding for Share Based Compensation Market Price | $ / shares     $ 22.82   $ 23.15 $ 25.88
The 2003 Incentive Plan [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized     2,250,000      
Limit on Tax Deductible Compensation | $     $ 1,000,000      
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued, Accumulative     1,197,034      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Additional Shares Authorized     46,065      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants     170,000      
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number     83,125      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant     936,182      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Types of Equity Awards     2      
The 2003 Incentive Plan [Member] | Common Stock [Member] | Chairman Chief Executive Officer and President [Member]            
Allocated Share-based Compensation Expense | $     $ 400,000 $ 400,000 $ 400,000  
Stock Issued During Period, Value, Share-based Compensation, Net of Forfeitures | $   $ 400,000        
Nonemployee Director Stock Incentive Plan [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized       975,000    
Share-based Compensation Arrangement by Share-based Payment Award, Shares Issued, Accumulative     4,764      
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant     131,554      
Nonemployee Director Stock Incentive Plan [Member] | Employee and Nonemployee Stock Option [Member]            
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number       149,453    
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross       325,810