Note 13 - Stockholders' Equity (Details Textual) - USD ($)	12 Months Ended
Dec. 31, 2019	Dec. 31, 2018	Dec. 31, 2017
Preferred Stock, Shares Authorized	5,000,000
Preferred Stock, Shares Outstanding, Ending Balance	0
Common Stock, Shares Authorized	50,000,000	50,000,000
Retained Earnings (Accumulated Deficit), Ending Balance	$ (118,712,000)	$ (112,363,000)
Stock Repurchase Program, Authorized Amount, Additional	$ 10,000,000
Treasury Stock, Shares, Acquired	0	1,015,000	389,000
Treasury Stock Acquired, Average Cost Per Share		$ 12.14	$ 11.55
Treasury Stock, Value, Acquired, Par Value Method		$ 12,318,000	$ 4,490,000
Stock Repurchase Program, Remaining Number of Shares Authorized to be Repurchased	794,913
Stock Issued During Period, Shares, Employee Stock Ownership Plan	845,000	848,000	890,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross	10,000	54,000	78,000
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term	4 years 335 days	5 years 335 days	4 years 80 days
Share-based Payment Arrangement, Expense	$ 7,631,000	$ 6,804,000	$ 5,861,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Vested and Expected to Vest, Outstanding, Number	1,515,000
Share-based Compensation Arrangement by Share-based Payment Award, Average Forfeiture Rate	9.00%
Share-based Payment Arrangement, Nonvested Award, Cost Not yet Recognized, Amount, Total	$ 5,357,000
Common Stock [Member]
Share Price	$ 15.74	$ 11.20	$ 12.50
1993 Director Stock Option Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized	1,980,875
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period	10 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross	2,464,933
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance	150,000
1998 Non-Officer Employee Stock Option Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period	4 years
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Authorized	5,062,881
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period	7 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance	20,841
2012 Equity Incentive Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period	4 years
Share-based Compensation Arrangement by Share-based Payment Award, Expiration Period	7 years
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross	5,250,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Outstanding, Number, Ending Balance	1,715,124
2012 Equity Incentive Plan [Member] \| Non-employee Directors [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Gross	8,000
1993 Employee Stock Purchase Plan (ESPP) [Member]
Share-based Compensation Arrangement by Share-based Payment Award Options Grants in Period, Exercise Price Based on Percentage of Fair Market Value of Common Stock	85.00%
Employee Stock Purchase Plan, Shares Reserved for Future Purchase	4,800,000
Stock Issued During Period, Shares, Employee Stock Purchase Plans	206,000	230,000	227,000
Employee Stock Ownership Plan (ESOP), Weighted Average Purchase Price of Shares Purchased	$ 9.61	$ 8.71	$ 8.34
Employee Stock Purchase Plan (ESPP), Shares Reserved for Future Purchase, Remaining	273,000
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Minimum	27.75%	29.60%	27.42%
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Volatility Rate, Maximum	29.54%	32.88%	34.92%
Share-based Payment Arrangement, Tranche One [Member] \| 1993 Director Stock Option Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage	33.00%
Share-based Payment Arrangement, Tranche Two [Member] \| 1993 Director Stock Option Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage	33.00%
Share-based Payment Arrangement, Tranche Three [Member] \| 1993 Director Stock Option Plan [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage	33.00%
Restricted Stock Units (RSUs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Period	4 years
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period	656,000	563,000	476,000
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number, Ending Balance	1,059,000
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value	$ 11.70	$ 11.25	$ 9.63
Share-based Compensation Arrangement by Share-based Payment Award, Weighted Average Pre Vest Cancel Rate	3.29%	3.75%	3.64%
Restricted Stock Units (RSUs) [Member] \| 2012 Equity Incentive Plan [Member] \| Non-employee Directors [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period	4,000
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other Than Options, Value Granted Per Year	$ 100,000
Restricted Stock Units (RSUs) [Member] \| Share-based Compensation Award, Vesting on the First Anniversary [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage	25.00%
Restricted Stock Units (RSUs) [Member] \| Share-based Compensation Award, Vesting Each Quarter After First Anniversary [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Award Vesting Rights, Percentage	6.25%
Stock Appreciation Rights (SARs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Equity Instruments Other than Options, Grants in Period		13,000	190,000
Share-based Compensation Arrangement by Share-based Payment Award, Non-Option Equity Instruments, Outstanding, Number, Ending Balance	140,000
Share-based Payment Arrangement, Option [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Options, Grants in Period, Weighted Average Grant Date Fair Value	$ 3.41	$ 4.39	$ 2.95
Minimum [Member]
Share-based Compensation Arrangement by Share-based Payment Award Options Grants in Period, Exercise Price Based on Percentage of Fair Market Value of Common Stock	100.00%
Minimum [Member] \| 1993 Employee Stock Purchase Plan (ESPP) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term	180 days
Maximum [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares to be Issued Upon Exercise of Outstanding Awards	1,665,000
Share-based Compensation Arrangement by Share-based Payment Award, Options and Stock Appreciation Rights, Exercisable, Number	561,000
Maximum [Member] \| 1993 Employee Stock Purchase Plan (ESPP) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Fair Value Assumptions, Expected Term	2 years
Maximum [Member] \| Stock Appreciation Rights (SARs) [Member]
Share-based Compensation Arrangement by Share-based Payment Award, Number of Shares Available for Grant as Percentage of Company Outstanding Common Stock	50.00%

Number of shares remaining that are reserved for future purchase under an employee stock purchase plan

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The number of employee stock purchase plan shares reserved for future purchase.

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Share-based compensation arrangement by share-based payment award, number of shares available for grant as percentage of company outstanding common stock

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Share-based compensation arrangement by share-based payment award number of shares to be issued upon exercise of outstanding awards

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Represents the number of exercisable options and stock appreciation rights related to a share-based compensation arrangement.

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Share-ased compensation arrangement by share-based payment award options grants in period, exercise price based on percentage of fair market value of common stock

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Weighted average pre vest cancellation rate.

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The average forfeiture rate for share-based compensation arrangement.

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Represents the value for nonvested awards on equity-based plans excluding option plans granted on a yearly basis to an employee.

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Amount of additional stock repurchase plan authorized.

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Amount of expense for award under share-based payment arrangement. Excludes amount capitalized.

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The maximum number of common shares permitted to be issued by an entity's charter and bylaws.

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Amount of cost not yet recognized for nonvested award under share-based payment arrangement.

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Weighted average purchase price of capital shares purchased through an employee stock ownership plan.

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The maximum number of nonredeemable preferred shares (or preferred stock redeemable solely at the option of the issuer) permitted to be issued by an entity's charter and bylaws.

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Aggregate share number for all nonredeemable preferred stock (or preferred stock redeemable solely at the option of the issuer) held by stockholders. Does not include preferred shares that have been repurchased.

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The cumulative amount of the reporting entity's undistributed earnings or deficit.

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Period over which grantee's right to exercise award under share-based payment arrangement is no longer contingent on satisfaction of service or performance condition, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days. Includes, but is not limited to, combination of market, performance or service condition.

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The number of grants made during the period on other than stock (or unit) option plans (for example, phantom stock or unit plan, stock or unit appreciation rights plan, performance target plan).

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The estimated measure of the maximum percentage by which a share price is expected to fluctuate during a period. Volatility also may be defined as a probability-weighted measure of the dispersion of returns about the mean. The volatility of a share price is the standard deviation of the continuously compounded rates of return on the share over a specified period. That is the same as the standard deviation of the differences in the natural logarithms of the stock prices plus dividends, if any, over the period.

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Number of equity instruments other than options outstanding, including both vested and non-vested instruments.

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Number of shares authorized for issuance under share-based payment arrangement.

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Gross number of share options (or share units) granted during the period.

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The weighted average grant-date fair value of options granted during the reporting period as calculated by applying the disclosed option pricing methodology.

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Number of options outstanding, including both vested and non-vested options.

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Number of fully vested and expected to vest options outstanding that can be converted into shares under option plan. Includes, but is not limited to, unvested options for which requisite service period has not been rendered but that are expected to vest based on achievement of performance condition, if forfeitures are recognized when they occur.

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Price of a single share of a number of saleable stocks of a company.

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Percentage of vesting of award under share-based payment arrangement.

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Period from grant date that an equity-based award expires, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents the reported fact of one year, five months, and thirteen days.

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Expected term of award under share-based payment arrangement, in 'PnYnMnDTnHnMnS' format, for example, 'P1Y5M13D' represents reported fact of one year, five months, and thirteen days.

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Number of shares of capital stock issued (purchased by employees) in connection with an employee stock ownership plan.

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Number of shares issued during the period as a result of an employee stock purchase plan.

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The remaining number of shares authorized to be repurchased by an entity's Board of Directors under a stock repurchase plan.

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Total cost of shares repurchased divided by the total number of shares repurchased.

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